Update RoboCOIN assets

dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml

@@ -0,0 +1,502 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_close_drawer_bottom
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: office_workspace
+  level2: office
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: three_layer_transparent_drawer
+  level1: laboratory_supplies
+  level2: three_layer_transparent_drawer
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- close the bottom drawer.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Use the right gripper to contact the bottom layer of the storage cabinet
+  subtask_index: 1
+- subtask: Push the bottom drawer closed
+  subtask_index: 2
+- subtask: 'null'
+  subtask_index: 3
+atomic_actions:
+- grasp
+- push
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 16270
+  fps: 30
+  total_tasks: 4
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 157.62 MB
+frame_num: 16270
+dataset_size: 157.62 MB
+data_structure: 'Agilex_Cobot_Magic_close_drawer_bottom_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml

@@ -0,0 +1,506 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_close_drawer_upper
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: office_workspace
+  level2: office
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: three_layer_transparent_drawer
+  level1: laboratory_supplies
+  level2: three-layer_transparent_drawer
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- close the upper drawer.
+sub_tasks:
+- subtask: Use the right gripper to touch the topmost layer of the storage cabinet
+  subtask_index: 0
+- subtask: Push the top drawer closed
+  subtask_index: 1
+- subtask: Use the right gripper to contact the middle shelf of the cabinet
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Push the middle drawer closed
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- push
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 173
+  total_frames: 49994
+  fps: 30
+  total_tasks: 6
+  total_videos: 519
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 522.40 MB
+frame_num: 49994
+dataset_size: 522.40 MB
+data_structure: 'Agilex_Cobot_Magic_close_drawer_upper_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (161 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:172
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml

@@ -0,0 +1,518 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_erase_board_left_side
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: education
+  level2: school
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard
+  level1: stationery
+  level2: whiteboard
+  level3: null
+  level4: null
+  level5: null
+- object_name: red_whiteboard_Eraser
+  level1: stationery
+  level2: red_whiteboard_Eraser
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- wipe off the handwriting on the whiteboard.
+sub_tasks:
+- subtask: Place the eraser with the left gripper
+  subtask_index: 0
+- subtask: Grasp the eraser with the left gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Grasp the eraser and wipe the blackboard with the right gripper
+  subtask_index: 3
+- subtask: Place the eraser with the right gripper
+  subtask_index: 4
+- subtask: Grasp the eraser with the right gripper
+  subtask_index: 5
+- subtask: Grasp the eraser and wipe the blackboard with the left gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- lift
+- lower
+- wipe
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 101
+  total_frames: 51478
+  fps: 30
+  total_tasks: 8
+  total_videos: 303
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 490.77 MB
+frame_num: 51478
+dataset_size: 490.77 MB
+data_structure: 'Agilex_Cobot_Magic_erase_board_left_side_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (89 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:100
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml

@@ -0,0 +1,528 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: office & workspace
+  level2: office
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: deli_water-based_marker
+  level1: stationery
+  level2: deli_water-based_marker
+  level3: null
+  level4: null
+  level5: null
+- object_name: notebook
+  level1: stationery
+  level2: notebook
+  level3: null
+  level4: null
+  level5: null
+- object_name: mouse
+  level1: appliances
+  level2: mouse
+  level3: null
+  level4: null
+  level5: null
+- object_name: mouse_pad
+  level1: appliances
+  level2: mouse_pad
+  level3: null
+  level4: null
+  level5: null
+- object_name: black_table_cloths
+  level1: laboratory_supplies
+  level2: black_table_cloths
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- the left gripper organize the pen on the notebook then the right gripper organize
+  the mouse on the mouse pad.
+sub_tasks:
+- subtask: Right gripper
+  subtask_index: 0
+- subtask: Pick up the mouse with right gripper
+  subtask_index: 1
+- subtask: Pick up the marker pen with right gripper
+  subtask_index: 2
+- subtask: Pick up the mouse with left gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Place the marker pen on the notebook with right gripper
+  subtask_index: 5
+- subtask: Place the mouse on the mouse pad with left gripper
+  subtask_index: 6
+- subtask: Place the marker pen on the notebook with left gripper
+  subtask_index: 7
+- subtask: Left gripper
+  subtask_index: 8
+- subtask: Pick up the marker pen with left gripper
+  subtask_index: 9
+- subtask: Place the mouse on the mouse pad with right gripper
+  subtask_index: 10
+- subtask: 'null'
+  subtask_index: 11
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 30
+  total_frames: 20668
+  fps: 30
+  total_tasks: 12
+  total_videos: 90
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 513.70 MB
+frame_num: 20668
+dataset_size: 513.70 MB
+data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (18 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:29
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml

@@ -0,0 +1,508 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_open_drawer_bottom
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: office_workspace
+  level2: office
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: three_layer_transparent_drawer
+  level1: laboratory_supplies
+  level2: three_layer_transparent_drawer
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- open the bottom drawer.
+sub_tasks:
+- subtask: end
+  subtask_index: 0
+- subtask: Pull open the drawer with the left gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Grab the bottom drawer with the right gripper
+  subtask_index: 3
+- subtask: Pull open the drawer with the right gripper
+  subtask_index: 4
+- subtask: Grab the bottom drawer with the left gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pull
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 18620
+  fps: 30
+  total_tasks: 7
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 182.16 MB
+frame_num: 18620
+dataset_size: 182.16 MB
+data_structure: 'Agilex_Cobot_Magic_open_drawer_bottom_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml

@@ -0,0 +1,499 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_storage_bread_basket
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: small_yellow _basket
+  level1: home_storage
+  level2: small_yellow _basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: waffle
+  level1: food
+  level2: waffle
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- Put the bakery in the basket.
+sub_tasks:
+- subtask: Abnormal
+  subtask_index: 0
+- subtask: Grasp the bread with right gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Grasp the bread with left gripper
+  subtask_index: 3
+- subtask: Place the bread in the basket with right gripper
+  subtask_index: 4
+- subtask: Place the bread in the basket with left gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 98
+  total_frames: 32042
+  fps: 30
+  total_tasks: 7
+  total_videos: 294
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 354.51 MB
+frame_num: 32042
+dataset_size: 354.51 MB
+data_structure: 'Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (86 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:97
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml

@@ -0,0 +1,561 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_storage_object_closest
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bathroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_basket
+  level1: container
+  level2: brown_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: toothpaste
+  level1: daily_necessities
+  level2: toothpaste
+  level3: null
+  level4: null
+  level5: null
+- object_name: cleanser
+  level1: daily_necessities
+  level2: cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_moon_laundry_detergent
+  level1: daily_necessities
+  level2: blue_moon_laundry_detergent
+  level3: null
+  level4: null
+  level5: null
+- object_name: shampoo
+  level1: daily_necessities
+  level2: shampoo
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- Place the object closest to the toothpaste in the basket.
+sub_tasks:
+- subtask: Grasp the shampoo with left gripper
+  subtask_index: 0
+- subtask: Grasp the soft facial cleanser with right gripper
+  subtask_index: 1
+- subtask: Place the pink laundry detergent in the basket with right gripper
+  subtask_index: 2
+- subtask: Place the cleaning agent in the basket with left gripper
+  subtask_index: 3
+- subtask: Place the shampoo in the basket with right gripper
+  subtask_index: 4
+- subtask: Grasp the shampoo with right gripper
+  subtask_index: 5
+- subtask: Place the pink laundry detergent in the basket with left gripper
+  subtask_index: 6
+- subtask: Place the soft facial cleanser in the basket with right gripper
+  subtask_index: 7
+- subtask: Grasp the pink laundry detergent with right gripper
+  subtask_index: 8
+- subtask: Grasp the soft facial cleanser with left gripper
+  subtask_index: 9
+- subtask: Place the cleaning agent in the basket with right gripper
+  subtask_index: 10
+- subtask: Place the soft facial cleanser in the basket with left gripper
+  subtask_index: 11
+- subtask: Grasp the pink laundry detergent with left gripper
+  subtask_index: 12
+- subtask: Place the shampoo in the basket with left gripper
+  subtask_index: 13
+- subtask: End
+  subtask_index: 14
+- subtask: Grasp the cleaning agent with right gripper
+  subtask_index: 15
+- subtask: Grasp the cleaning agent with left gripper
+  subtask_index: 16
+- subtask: 'null'
+  subtask_index: 17
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 100
+  total_frames: 29779
+  fps: 30
+  total_tasks: 18
+  total_videos: 300
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 506.53 MB
+frame_num: 29779
+dataset_size: 506.53 MB
+data_structure: 'Agilex_Cobot_Magic_storage_object_closest_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (88 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:99
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml

@@ -1,14 +1,35 @@
-path: Airbot_MMK2_move_block_gold_bar_models
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
 dataset_name: Airbot_MMK2_move_block_gold_bar_models
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: Place the gold bar on the glasses case with the right gripper
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
 objects:
 - object_name: eyeglass_case
   level1: laboratory_supplies
@@ -22,113 +43,396 @@ objects:
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-10703
-dataset_size: 433.7MB
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- place the glasses case in the middle of the table with your left hand and put the
+  toy gold bar on the glasses case with your right hand.
+sub_tasks:
+- subtask: Place the gold bar on the glasses case with the right gripper
+  subtask_index: 0
+- subtask: Grasp the glasses case with the left gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Static
+  subtask_index: 3
+- subtask: Place the glasses case on the middle of the table with the left gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: Grasp the gold bar the right gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
 statistics:
   total_episodes: 50
   total_frames: 10703
-  total_tasks: 1
+  fps: 30
+  total_tasks: 8
   total_videos: 200
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: 8f0091c0-69e1-4ca0-80f9-a7ae390d4a9f
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- Place the gold bar on the glasses case with the right gripper
-- Grasp the glasses case with the left gripper
-- Abnormal
-- Static
-- Place the glasses case on the middle of the table with the left gripper
-- End
-- Grasp the gold bar the right gripper
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 434.03 MB
+frame_num: 10703
+dataset_size: 434.03 MB
+data_structure: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
 authors:
   contributed_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n├── annotations/\n\
-  │   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│\
-  \   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n\
-  │   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
-structure: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n├── annotations/\n\
-  │   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│\
-  \   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n\
-  │   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml

@@ -0,0 +1,438 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_slide_tape_onto_can
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: early_education_toys
+  level1: toys
+  level2: early_education_toys
+  level3: null
+  level4: null
+  level5: null
+- object_name: beverages
+  level1: beverages
+  level2: beverages
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the rings with left and right hands respectively and place them on the beverage
+  cans.
+sub_tasks:
+- subtask: Grasp the transparent circular ring on the left with the left gripper
+  subtask_index: 0
+- subtask: Place the  transparent circular ring on the left onto the fanta in the
+    middle  with left gripper
+  subtask_index: 1
+- subtask: Place the  transparent circular ring on the right onto the fanta in the
+    middle  with right gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Grasp the transparent circular ring on the right with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 44
+  total_frames: 10133
+  fps: 30
+  total_tasks: 7
+  total_videos: 176
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 490.04 MB
+frame_num: 10133
+dataset_size: 490.04 MB
+data_structure: "Airbot_MMK2_slide_tape_onto_can_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (32 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:43
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_stack_cubic_block.yaml

@@ -0,0 +1,444 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_stack_cubic_block
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bedroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the building blocks with left and right hands respectively and place them
+  on the blocks.
+sub_tasks:
+- subtask: Grasp the blue build blocks with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the blue build blocks on the red build block with the right gripper
+  subtask_index: 2
+- subtask: Place the yellow build blocks on the orange build block with the right
+    gripper
+  subtask_index: 3
+- subtask: Place the red build blocks on the center of the table with the left gripper
+  subtask_index: 4
+- subtask: Place the orange build blocks on the yellow build block with the right
+    gripper
+  subtask_index: 5
+- subtask: Grasp the blue build blocks with the left gripper
+  subtask_index: 6
+- subtask: Grasp the red build blocks with the left gripper
+  subtask_index: 7
+- subtask: Abnormal
+  subtask_index: 8
+- subtask: Grasp the orange build blocks with the right gripper
+  subtask_index: 9
+- subtask: Place the blue build blocks on the red build block with the left gripper
+  subtask_index: 10
+- subtask: Grasp the yellow build blocks with the right gripper
+  subtask_index: 11
+- subtask: 'null'
+  subtask_index: 12
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 162
+  total_frames: 48691
+  fps: 30
+  total_tasks: 13
+  total_videos: 648
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 1.92 GB
+frame_num: 48691
+dataset_size: 1.92 GB
+data_structure: "Airbot_MMK2_stack_cubic_block_qced_hardlink/\n|-- annotations\n|\
+  \   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (150 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:161
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml

@@ -0,0 +1,498 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_cake_ice_cream
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: plate
+  level1: kitchen_supplies
+  level2: plate
+  level3: null
+  level4: null
+  level5: null
+- object_name: cake
+  level1: bread
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: ice_cream
+  level1: snacks
+  level2: ice_cream
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the cake and ice cream into the plate respectively with left and right hands.
+sub_tasks:
+- subtask: Grasp the ice cream with the right gripper
+  subtask_index: 0
+- subtask: Place the ice cream into the white basket with the right gripper
+  subtask_index: 1
+- subtask: Grasp the cake with the left gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Place the cake into the white basket with the left gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 11989
+  fps: 30
+  total_tasks: 6
+  total_videos: 200
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 571.59 MB
+frame_num: 11989
+dataset_size: 571.59 MB
+data_structure: 'Airbot_MMK2_storage_cake_ice_cream_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_rgb
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_diamond_ring.yaml

@@ -0,0 +1,432 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_diamond_ring
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bedroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: diamond_ring
+  level1: daily_necessities
+  level2: diamond_ring
+  level3: null
+  level4: null
+  level5: null
+- object_name: flip_top_paper_boxes
+  level1: packaging
+  level2: flip_top_paper_boxes
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the ring into the box.
+sub_tasks:
+- subtask: Place the diamond ring in the box with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Close the lid of the box with the left gripper
+  subtask_index: 2
+- subtask: Grasp the diamond ring with the right gripper
+  subtask_index: 3
+- subtask: 'null'
+  subtask_index: 4
+atomic_actions:
+- grasp
+- place
+- pick
+- turn
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 9131
+  fps: 30
+  total_tasks: 5
+  total_videos: 200
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 426.97 MB
+frame_num: 9131
+dataset_size: 426.97 MB
+data_structure: "Airbot_MMK2_storage_diamond_ring_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_shark_doll.yaml

@@ -0,0 +1,437 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_shark_doll
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: commercial_convenience
+  level2: supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: shark_doll
+  level1: toys
+  level2: shark_doll
+  level3: null
+  level4: null
+  level5: null
+- object_name: lid
+  level1: laboratory_supplies
+  level2: lid
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the shark doll and put it in the lid.
+sub_tasks:
+- subtask: Place the whale on the white lid with the right gripper
+  subtask_index: 0
+- subtask: Grasp the whale with the left gripper
+  subtask_index: 1
+- subtask: Deliver the whale from left   gripper to right gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: 'null'
+  subtask_index: 4
+atomic_actions:
+- grasp
+- place
+- pick
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 93
+  total_frames: 13034
+  fps: 30
+  total_tasks: 5
+  total_videos: 372
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 461.32 MB
+frame_num: 13034
+dataset_size: 461.32 MB
+data_structure: "Airbot_MMK2_storage_shark_doll_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (81 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:92
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml

@@ -0,0 +1,441 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_tape_measure_umbrella
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: basin
+  level1: storage_utensils
+  level2: basin
+  level3: null
+  level4: null
+  level5: null
+- object_name: tape_measure
+  level1: rulers
+  level2: tape_measure
+  level3: null
+  level4: null
+  level5: null
+- object_name: umbrella
+  level1: items
+  level2: umbrella
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the tape measure and the umbrella in the basin.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Grasp the tape measure with the right gripper
+  subtask_index: 1
+- subtask: Grasp the umbrella with the left gripper
+  subtask_index: 2
+- subtask: Static
+  subtask_index: 3
+- subtask: Place the umbrella in the white basket with the left gripper
+  subtask_index: 4
+- subtask: Place the tape measure in the white basket with the right gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 40
+  total_frames: 7112
+  fps: 30
+  total_tasks: 7
+  total_videos: 160
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 236.10 MB
+frame_num: 7112
+dataset_size: 236.10 MB
+data_structure: "Airbot_MMK2_storage_tape_measure_umbrella_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (28 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:39
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_take_bowl_sponge.yaml

@@ -0,0 +1,441 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_take_bowl_sponge
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: cleaning_sponge
+  level1: cleaning
+  level2: cleaning_sponge
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: bowl
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the sponge and bowl by hand and place them on the table.
+sub_tasks:
+- subtask: Place the sponge on the table with the left gripper
+  subtask_index: 0
+- subtask: Abnormal
+  subtask_index: 1
+- subtask: Grasp the sponge on the white basket and with the left gripper
+  subtask_index: 2
+- subtask: Grasp the bowl on the white basket and with the right gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Place the bowl on the table with the right gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 42
+  total_frames: 11308
+  fps: 30
+  total_tasks: 7
+  total_videos: 168
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 373.70 MB
+frame_num: 11308
+dataset_size: 373.70 MB
+data_structure: "Airbot_MMK2_take_bowl_sponge_qced_hardlink/\n|-- annotations\n| \
+  \  |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n| \
+  \  |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (30 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:41
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_take_dog_doll.yaml

@@ -0,0 +1,434 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_take_dog_doll
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: toy_dog
+  level1: doll
+  level2: toy_dog
+  level3: null
+  level4: null
+  level5: null
+- object_name: lid
+  level1: storage_utensils
+  level2: lid
+  level3: null
+  level4: null
+  level5: null
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the toy dog from the white lid by hand and place it on the table.
+sub_tasks:
+- subtask: Place the puppy on the table with the left and right grippers
+  subtask_index: 0
+- subtask: Grasp the puppy with the left and right grippers
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: 'null'
+  subtask_index: 3
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 6425
+  fps: 30
+  total_tasks: 4
+  total_videos: 200
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 253.22 MB
+frame_num: 6425
+dataset_size: 253.22 MB
+data_structure: "Airbot_MMK2_take_dog_doll_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
+  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
+  \ |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n\
+  |-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (38 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
+  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
+  \ observation.images.cam_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_take_part_both_hands.yaml

@@ -0,0 +1,439 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_take_part_both_hands
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: item
+  level1: item
+  level2: item
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: building_blocks
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- take the items off the building blocks with both hands and place them on the table.
+sub_tasks:
+- subtask: Grasp the steel tube on the cube block with the right gripper
+  subtask_index: 0
+- subtask: Grasp the steel tube on the cube block with the left gripper
+  subtask_index: 1
+- subtask: Place the steel tube on the table with the left gripper
+  subtask_index: 2
+- subtask: Place the steel tube on the table with the right gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 6348
+  fps: 30
+  total_tasks: 6
+  total_videos: 200
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 239.11 MB
+frame_num: 6348
+dataset_size: 239.11 MB
+data_structure: "Airbot_MMK2_take_part_both_hands_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Galaxea_R1_Lite_pour_solid.yaml

@@ -0,0 +1,569 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Galaxea_R1_Lite_pour_solid
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: ousehhold
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: white_table
+  level1: furniture
+  level2: white_table
+  level3: null
+  level4: null
+  level5: null
+- object_name: plastic_cup
+  level1: cups
+  level2: plastic_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_dish
+  level1: plates
+  level2: green_dish
+  level3: null
+  level4: null
+  level5: null
+- object_name: pink_bowl
+  level1: plastic_bowls
+  level2: pink_bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: solid
+  level1: materials
+  level2: solid
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use a gripper to pick up the cup and pour the solid into a bowl or tray.
+sub_tasks:
+- subtask: Grasp the glass of shrimp with the left gripper
+  subtask_index: 0
+- subtask: Pick up blue cup filled with coffee beans with left gripper
+  subtask_index: 1
+- subtask: Place blue cup with coffee beans on the table with left gripper
+  subtask_index: 2
+- subtask: Pour the shrimp into the green bowl with the left gripper
+  subtask_index: 3
+- subtask: Pour the coffee beans into the pink bowl with the left gripper
+  subtask_index: 4
+- subtask: Pour the coffee beans into the pink bowl with the right gripper
+  subtask_index: 5
+- subtask: Left gripper
+  subtask_index: 6
+- subtask: Pour the shrimp into the green bowl with the right gripper
+  subtask_index: 7
+- subtask: Pick up blue cup filled with shrimp with left gripper
+  subtask_index: 8
+- subtask: Place blue cup with shrimp on the table with left gripper
+  subtask_index: 9
+- subtask: Pick up blue cup filled with coffee beans with right gripper
+  subtask_index: 10
+- subtask: Grasp the glass of coffee beans with the left gripper
+  subtask_index: 11
+- subtask: Pour the shrimp into the pink bowl with left gripper
+  subtask_index: 12
+- subtask: Pour the coffee beans into the green bowl with the left gripper
+  subtask_index: 13
+- subtask: Pour the coffee beans into the pink bowl with left gripper
+  subtask_index: 14
+- subtask: Grasp the glass of coffee beans with the right gripper
+  subtask_index: 15
+- subtask: Pour the coffee beans into the green plate with the right gripper
+  subtask_index: 16
+- subtask: Pour the shrimp into the pink bowl with the right gripper
+  subtask_index: 17
+- subtask: Grasp the glass of shrimp with the right gripper
+  subtask_index: 18
+- subtask: Pour the coffee beans into the green plate with the left gripper
+  subtask_index: 19
+- subtask: Place blue cup with coffee powder on the table with left gripper
+  subtask_index: 20
+- subtask: Place the glass cup with the right gripper
+  subtask_index: 21
+- subtask: Place blue cup with coffee beans on the table with right gripper
+  subtask_index: 22
+- subtask: End
+  subtask_index: 23
+- subtask: Pour the coffee beans into the green bowl with the right gripper
+  subtask_index: 24
+- subtask: Place blue cup with shrimp on the table with right gripper
+  subtask_index: 25
+- subtask: Pick up blue cup filled with shrimp with right gripper
+  subtask_index: 26
+- subtask: Pour the shrimp into the pink bowl with right gripper
+  subtask_index: 27
+- subtask: Pour the shrimp into the pink bowl with the left gripper
+  subtask_index: 28
+- subtask: Pour the shrimp into the blue basin with left gripper
+  subtask_index: 29
+- subtask: Pour the coffee beans into the blue basin with right gripper
+  subtask_index: 30
+- subtask: Right gripper
+  subtask_index: 31
+- subtask: Pour the shrimp into the blue basin with right gripper
+  subtask_index: 32
+- subtask: Place the glass cup with the left gripper
+  subtask_index: 33
+- subtask: 'null'
+  subtask_index: 34
+atomic_actions:
+- grasp
+- pick
+- place
+- pour
+robot_name:
+- Galaxea_R1_Lite
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_left_rgb
+- cam_head_right_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 39
+  total_frames: 16353
+  fps: 30
+  total_tasks: 35
+  total_videos: 156
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 459.77 MB
+frame_num: 16353
+dataset_size: 459.77 MB
+data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_solid_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (27 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:38
+features:
+  observation.images.cam_head_left_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_head_right_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml

@@ -0,0 +1,500 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Realman_RMC-AIDA-L_storage_peach_drawer
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: drawer
+  level1: storage_utensils
+  level2: drawer
+  level3: null
+  level4: null
+  level5: null
+- object_name: peach
+  level1: fruit
+  level2: peach
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- the right gripper grasp the peach on the table and place it into the drawer, the
+  left gripper close the drawer.
+sub_tasks:
+- subtask: Close the drawer with the left gripper
+  subtask_index: 0
+- subtask: Place the peach into the top drawer with the right gripper
+  subtask_index: 1
+- subtask: end
+  subtask_index: 2
+- subtask: Grasp the peach with the right gripper
+  subtask_index: 3
+- subtask: 'null'
+  subtask_index: 4
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Realman_RMC-AIDA-L
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 120
+  total_frames: 46600
+  fps: 30
+  total_tasks: 5
+  total_videos: 360
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 28
+  action_dim: 28
+  camera_views: 3
+  dataset_size: 596.03 MB
+frame_num: 46600
+dataset_size: 596.03 MB
+data_structure: 'Realman_RMC-AIDA-L_storage_peach_drawer_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (108 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:119
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml

@@ -0,0 +1,502 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Realman_RMC-AIDA-L_storage_towel_basket
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: basket
+  level1: home_storage
+  level2: basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: towel
+  level1: daily_necessities
+  level2: towel
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- the left gripper grasp the basket on the table, the right grippe pick up the towel
+  on the table and place it into the basket.
+sub_tasks:
+- subtask: Place the towel into the basket with the right gripper
+  subtask_index: 0
+- subtask: Abnormal
+  subtask_index: 1
+- subtask: PIck up the basket with the left gripper
+  subtask_index: 2
+- subtask: PIck up the towel with the right gripper
+  subtask_index: 3
+- subtask: end
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Realman_RMC-AIDA-L
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 118
+  total_frames: 58520
+  fps: 30
+  total_tasks: 6
+  total_videos: 354
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 28
+  action_dim: 28
+  camera_views: 3
+  dataset_size: 684.59 MB
+frame_num: 58520
+dataset_size: 684.59 MB
+data_structure: 'Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (106 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:117
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

info/data_index.json

@@ -102,6 +102,13 @@
     "AgiBot-g1_storage_item_d",
     "AgiBot-g1_storage_item_e",
     "AgiBot-g1_tool_storage",
+    "Agilex_Cobot_Magic_close_drawer_bottom",
+    "Agilex_Cobot_Magic_close_drawer_upper",
+    "Agilex_Cobot_Magic_erase_board_left_side",
+    "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth",
+    "Agilex_Cobot_Magic_open_drawer_bottom",
+    "Agilex_Cobot_Magic_storage_bread_basket",
+    "Agilex_Cobot_Magic_storage_object_closest",
     "Airbot_MMK2_move_block_gold_bar_models",
     "Airbot_MMK2_move_book_front",
     "Airbot_MMK2_move_book_right_side",
@@ -114,23 +121,32 @@
     "Airbot_MMK2_pass_paper_box",
     "Airbot_MMK2_pour_BBs",
     "Airbot_MMK2_push_toy_car",
+    "Airbot_MMK2_slide_tape_onto_can",
+    "Airbot_MMK2_stack_cubic_block",
     "Airbot_MMK2_storage_bottle_part",
     "Airbot_MMK2_storage_bowl_wet_wipes",
     "Airbot_MMK2_storage_braised_pork_belly_shrimp",
+    "Airbot_MMK2_storage_cake_ice_cream",
     "Airbot_MMK2_storage_cookie_toy_car",
     "Airbot_MMK2_storage_cup",
     "Airbot_MMK2_storage_cup_rubik_s_cube",
+    "Airbot_MMK2_storage_diamond_ring",
     "Airbot_MMK2_storage_egg_bowl",
     "Airbot_MMK2_storage_egg_plate",
     "Airbot_MMK2_storage_electronics_yellow_baket",
     "Airbot_MMK2_storage_peach_pear",
+    "Airbot_MMK2_storage_shark_doll",
+    "Airbot_MMK2_storage_tape_measure_umbrella",
     "Airbot_MMK2_storage_tools",
     "Airbot_MMK2_storage_tumbler_umbrella",
     "Airbot_MMK2_swap_bottle_wet_wipes_plate",
     "Airbot_MMK2_swap_sponge_paper_box_plate",
+    "Airbot_MMK2_take_bowl_sponge",
     "Airbot_MMK2_take_cup",
+    "Airbot_MMK2_take_dog_doll",
     "Airbot_MMK2_take_drink",
     "Airbot_MMK2_take_electronics",
+    "Airbot_MMK2_take_part_both_hands",
     "Airbot_MMK2_take_toy_car",
     "Cobot_Magic_box_storage_chopsticks",
     "Cobot_Magic_cap_the_pen_a",
@@ -242,6 +258,8 @@
     "G1edu-u3_put_the_water_bottle_on_the_table_d",
     "G1edu-u3_stack_bowls",
     "G1edu-u3_tray_storage_lemon_a",
+    "Galaxea_R1_Lite_pour_solid",
+    "Galaxea_R1_Lite_storage_object_yellow_basket",
     "Galbot_g1_fold_clothe_b",
     "Galbot_g1_fold_clothe_c",
     "Galbot_g1_fold_clothe_e",
@@ -354,6 +372,8 @@
     "RMC-AIDA-L_stack_baskets",
     "RMC-AIDA-L_stir_coffee",
     "RMC-AIDA-L_storage_bin_storage",
+    "Realman_RMC-AIDA-L_storage_peach_drawer",
+    "Realman_RMC-AIDA-L_storage_towel_basket",
     "Split_aloha_basket_storage_banana",
     "Split_aloha_basket_storage_bread",
     "Split_aloha_basket_storage_egg_yolk_pastry",
@@ -433,5 +453,5 @@
     "leju_robot_pass_the_cleaner_d",
     "leju_robot_pass_the_cleaner_e"
   ],
-  "count": 432
+  "count": 452
 }

info/exclude.json

@@ -1,54 +1,12 @@
 [
-    "AIRBOT_MMK2_beauty_sponge_and_cake_to_place",
-    "AIRBOT_MMK2_building_block_storage",
-    "AgiBot-g1_battery_storage_c",
-    "AgiBot-g1_box_storage_part_a",
-    "AgiBot-g1_box_storage_tool",
-    "AgiBot-g1_mobile_accessory_storage_box_d",
-    "AgiBot-g1_picks_up_parts_b",
-    "Cobot_Magic_classification_of_fruits_and_vegetables_a",
-    "Cobot_Magic_desktop_organization",
-    "Cobot_Magic_drawer_storage_mineral_water",
-    "Cobot_Magic_food_packaging",
-    "Cobot_Magic_make_hamburger",
-    "Cobot_Magic_move_the_ball_and_the_cube_block",
-    "Cobot_Magic_open_the_shoebox",
-    "Cobot_Magic_pour_water_a",
-    "Cobot_Magic_vase_storage_flower",
-    "G1edu-u3_bowl_storage_grape_singletry",
-    "G1edu-u3_food_storage",
-    "G1edu-u3_plate_storage_doll",
-    "G1edu-u3_pullBowl_storage_bread_b",
-    "Galbot_g1_fold_clothe_b",
-    "Galbot_g1_fold_clothe_c",
-    "Galbot_g1_fold_clothe_e",
-    "Galbot_g1_steamer_storage_baozi_a",
-    "Galbot_g1_steamer_storage_baozi_b",
-    "Galbot_g1_steamer_storage_baozi_c",
-    "Galbot_g1_steamer_storage_baozi_d",
-    "Galbot_g1_steamer_storage_baozi_e",
-    "Galbot_g1_steamer_storage_baozi_f",
-    "Galbot_g1_steamer_storage_baozi_g",
-    "Galbot_g1_steamer_storage_baozi_h",
-    "Galbot_g1_steamer_storage_baozi_i",
-    "Galbot_g1_steamer_storage_baozi_j",
-    "R1_Lite_cook_a_meal",
-    "R1_Lite_drawer_storage_hair_dryer",
-    "R1_Lite_move_the_position_of_the_coffee_capsule",
-    "R1_Lite_move_the_position_of_the_soda",
-    "R1_Lite_open_and_close_microwave_oven",
-    "R1_Lite_pick_up_and_store_items",
-    "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet",
-    "R1_Lite_take_clothes_out_of_the_washing_machine",
-    "R1_Lite_throw_out_the_trash",
-    "RMC-AIDA-L_box_up_down",
-    "RMC-AIDA-L_fold_shirt",
-    "Split_aloha_fold_the_pants",
-    "Split_aloha_pour_tea",
-    "Tianqin_A2_place_the_paper_box",
-    "leju_robot_box_storage_parcel_f",
-    "leju_robot_hotel_services_ah",
-    "leju_robot_moving_parts_o",
-    "leju_robot_moving_parts_s",
-    "leju_robot_moving_parts_t"
+    "AIRBOT_MMK2_place_the_sponge_and_wet_wipes",
+    "AIRBOT_MMK2_the_cup_is_placed_in_the_book",
+    "Cobot_Magic_plate_storage_toy",
+    "Cobot_Magic_take_down_the_cube_block",
+    "leju_robot_box_storage_parcel_d",
+    "leju_robot_box_storage_parcel_j",
+    "leju_robot_box_storage_parcel_i",
+    "leju_robot_box_storage_parcel_k",
+    "leju_robot_box_storage_parcel_l",
+    "G1edu-u3_basket_storage_apple_b"
 ]

info/robot_aliases.json

@@ -71,4 +71,4 @@
     "common_name": "AI2_Alphabot_1s",
     "aliases": ["AI2_Alphabot_1s", "Alphabot_1s", "alphabot1s", "alpha_bot_1s"]
   }
-}
+}

videos/Agilex_Cobot_Magic_close_drawer_bottom.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8af35bbdf447cc6c4cd560baf69056fb449ac258046d97d7370068529e85b34
+size 428247

videos/Agilex_Cobot_Magic_close_drawer_upper.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f1d3df0281bb9b46d235cfd95cdbb9db8d92af033d1e2857f3fbce4c6689e2
+size 477473

videos/Agilex_Cobot_Magic_erase_board_left_side.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a76d7a10f60befafab18d08d8ebd3f68a35333813c869f61e0736f18508cfb
+size 624494

videos/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a14bb6acab06ed025f25b8347ae2126344aacaa2f5c2a60a81bff69ac602caf
+size 1118686

videos/Agilex_Cobot_Magic_open_drawer_bottom.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b86c091d8c9c91a692ee294ac31c4fef6036e8739461629c27b0e8b24a4e20
+size 548117