diff --git a/dataset_info/Airbot_MMK2_close_door_right.yaml b/dataset_info/Airbot_MMK2_close_door_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c9df6bd1a9fe5fbed7b02091e55904cbb33e93d2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_door_right.yaml @@ -0,0 +1,421 @@ +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_close_door_right +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: cabinet + level1: home_storage + level2: cabinet + 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 cabinet door with your right hand. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Close the cupboard door with the right gripper + subtask_index: 1 +- subtask: Touch the door with the right gripper + subtask_index: 2 +- subtask: 'null' + subtask_index: 3 +atomic_actions: +- push +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- 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: 47 + total_frames: 5437 + fps: 30 + total_tasks: 4 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 148.62 MB +frame_num: 5437 +dataset_size: 148.62 MB +data_structure: "Airbot_MMK2_close_door_right_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_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| `-- ... (35 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: 0:46 +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 diff --git a/dataset_info/Airbot_MMK2_close_doors.yaml b/dataset_info/Airbot_MMK2_close_doors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e032140723bbad82a21f8fd1990f2d789864f51e --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_doors.yaml @@ -0,0 +1,424 @@ +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_close_doors +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: household + level2: studroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet + level1: home_storage + level2: cabinet + 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 door by hand. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Touch the right cabinet door with the right gripper + subtask_index: 1 +- subtask: Close the door with the right gripper + subtask_index: 2 +- subtask: Touch the left cabinet door with the left gripper + subtask_index: 3 +- subtask: Close the door with the left gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- push +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- 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: 8141 + 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: 280.57 MB +frame_num: 8141 +dataset_size: 280.57 MB +data_structure: "Airbot_MMK2_close_doors_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| \ + \ |-- gripper_mode_annotation.jsonl\n| |-- 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 diff --git a/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml b/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d652236d012a2c28eed2ba0274142f0768be0963 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml @@ -0,0 +1,440 @@ +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_cake_tape_measure +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: other + level2: courier_station + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null +- object_name: paper_boxes + level1: home_storage + level2: paper_boxes + level3: null + level4: null + level5: null +- object_name: tape_measure + level1: stationery + level2: tape_measure + 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 cake and tape measure with both hands and place them on the cardboard + box. +sub_tasks: +- subtask: Grasp the tape measure with the right gripper + subtask_index: 0 +- subtask: Place the bagged waffle on the carton with the left gripper + subtask_index: 1 +- subtask: Grasp the bagged waffle with the left gripper + subtask_index: 2 +- subtask: Place the tape measure on the carton 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: 49 + total_frames: 9381 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 362.05 MB +frame_num: 9381 +dataset_size: 362.05 MB +data_structure: "Airbot_MMK2_move_cake_tape_measure_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_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| `-- ... (37 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: 0:48 +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 diff --git a/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml b/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c8fb7377bd22f345a66724ab39e2fb777e25d7d --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_tennis_racket_ball.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_move_tennis_racket_ball +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: other + level2: leisure_plaza + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: tennis_racket + level1: toys + level2: tennis_racket + level3: null + level4: null + level5: null +- object_name: ball + level1: toys + level2: ball + 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 racket with your left hand, place the ball on the racket with your right + hand, and then put down the racket. +sub_tasks: +- subtask: Lift the racket with the left gripper + subtask_index: 0 +- subtask: Abnormal + subtask_index: 1 +- subtask: Place the ball on the racket with the right gripper + subtask_index: 2 +- subtask: Place the racket on the table with the left gripper + subtask_index: 3 +- subtask: End + subtask_index: 4 +- subtask: Grasp the racket with the left gripper + subtask_index: 5 +- subtask: Grasp the ball with 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: 48 + total_frames: 10833 + fps: 30 + total_tasks: 8 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 455.12 MB +frame_num: 10833 +dataset_size: 455.12 MB +data_structure: "Airbot_MMK2_move_tennis_racket_ball_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (36 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: 0:47 +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 diff --git a/dataset_info/Airbot_MMK2_pull_tissue.yaml b/dataset_info/Airbot_MMK2_pull_tissue.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce3a8b861a1d071f30c3d7d3202c0c2ae9da7719 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pull_tissue.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_pull_tissue +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: tissue_paper + level1: kitchen_supplies + level2: paper_towels + level3: null + level4: null + level5: null +- object_name: tissue_box + level1: kitchen_supplies + level2: paper_towels + 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 a tissue paper out of tissue box by hand. +sub_tasks: +- subtask: Place the tissue on the table with the right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Pull out a piece of tissue with the right gripper + subtask_index: 2 +- subtask: Abnormal + subtask_index: 3 +- subtask: Grasp the a piece of tissue with the right 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: 49 + total_frames: 11531 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 405.79 MB +frame_num: 11531 +dataset_size: 405.79 MB +data_structure: "Airbot_MMK2_pull_tissue_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_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\ + | `-- ... (37 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: 0:48 +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 diff --git a/dataset_info/Airbot_MMK2_remove_lid.yaml b/dataset_info/Airbot_MMK2_remove_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe222d1290208a22a187b16cbe00b3bab6207932 --- /dev/null +++ b/dataset_info/Airbot_MMK2_remove_lid.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_remove_lid +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: lid + level1: storage_utensils + level2: lid + level3: null + level4: null + level5: null +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: laboratory_supplies + level2: box + 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 lid of the foam box. +sub_tasks: +- subtask: Place the lid of the foam box on the table with your left gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Grasp the lid of the foam box with your left gripper + subtask_index: 2 +- subtask: Grasp the lid of the foam box with your right gripper + subtask_index: 3 +- subtask: Place the lid of the foam box on the table with your right gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- lift +- 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: 47 + total_frames: 11589 + fps: 30 + total_tasks: 6 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 403.42 MB +frame_num: 11589 +dataset_size: 403.42 MB +data_structure: "Airbot_MMK2_remove_lid_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- 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\ + | `-- ... (35 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: 0:46 +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 diff --git a/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml b/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml new file mode 100644 index 0000000000000000000000000000000000000000..97d43efee4b0192e454fafb1982f3dac37fa8bd7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml @@ -0,0 +1,431 @@ +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_block_onto_post +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: early_education_toys + level1: toys + level2: early_education_toys + 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 toy back to its original position with right hand. +sub_tasks: +- subtask: Grasp the red cylindrical build blocks with the right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Place the green cylindrical build blocks on the 1st pillar of the block + base with the right gripper + subtask_index: 2 +- subtask: Place the red cylindrical build blocks on the 1st pillar of the block base + with the right gripper + subtask_index: 3 +- subtask: Abnormal + subtask_index: 4 +- subtask: Grasp the green cylindrical build blocks 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: 189 + total_frames: 36378 + fps: 30 + total_tasks: 7 + total_videos: 756 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.31 GB +frame_num: 36378 +dataset_size: 1.31 GB +data_structure: "Airbot_MMK2_slide_block_onto_post_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_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| `-- ... (177 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: 0:188 +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 diff --git a/dataset_info/Airbot_MMK2_storage_badminton.yaml b/dataset_info/Airbot_MMK2_storage_badminton.yaml new file mode 100644 index 0000000000000000000000000000000000000000..535fd2c2f6365b28e00794a006211de1bdc3a1e1 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_badminton.yaml @@ -0,0 +1,435 @@ +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_badminton +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: other + level2: leisure_plaza + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: badminton + level1: toys + level2: badminton + level3: null + level4: null + level5: null +- object_name: storage_box + level1: laboratory_supplies + level2: storage_box + 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 badminton shuttlecock into the storage box with left and right hands respectively. +sub_tasks: +- subtask: Grasp the badminton with the right gripper + subtask_index: 0 +- subtask: Place the badminton into the left compartment of the storage box with the + left gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Grasp the badminton with the left gripper + subtask_index: 3 +- subtask: Place the badminton into the right compartment of the storage box with + the right 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: 49 + total_frames: 8382 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 253.84 MB +frame_num: 8382 +dataset_size: 253.84 MB +data_structure: "Airbot_MMK2_storage_badminton_qced_hardlink/\n|-- annotations\n|\ + \ |-- eef_acc_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| `-- ... (37 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: 0:48 +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 diff --git a/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml b/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a002e14a8557a611dd1477632fa4e4fae691e7c7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml @@ -0,0 +1,433 @@ +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_bell_pepper_bowl +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: living_room + level2: household + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: yellow_bell_pepper + level1: vegetables + level2: yellow_bell_pepper + level3: null + level4: null + level5: null +- object_name: bowl + level1: kitchen_supplies + level2: bowl + 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 yellow green peppers into the bowl with right hand. +sub_tasks: +- subtask: Abnormal + subtask_index: 0 +- subtask: Place yellow round chili pepper on the blue bowl with the right gripper + subtask_index: 1 +- subtask: Grasp the yellow round chili pepper with the right gripper + subtask_index: 2 +- subtask: End + subtask_index: 3 +- subtask: Static + 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: 4495 + 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: 149.48 MB +frame_num: 4495 +dataset_size: 149.48 MB +data_structure: "Airbot_MMK2_Airbot_MMK2_storage_bell_pepper_bowl_qced_hardlink/\n\ + |-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- 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 diff --git a/dataset_info/Airbot_MMK2_storage_cake_plate.yaml b/dataset_info/Airbot_MMK2_storage_cake_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a1d7f68522bccf8fa9fbe04e3ff1a6ee14048b2d --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_plate.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_cake_plate +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: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + 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 into the plate with left and right hand respectively. +sub_tasks: +- subtask: Abnormal + subtask_index: 0 +- subtask: Grasp the bagged cake with the left gripper + subtask_index: 1 +- subtask: Place the bagged cake on the white plate with the right gripper + subtask_index: 2 +- subtask: Static + subtask_index: 3 +- subtask: End + subtask_index: 4 +- subtask: Grasp the bagged cake with the right gripper + subtask_index: 5 +- subtask: Place the bagged cake on the white plate with the left 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: 6430 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 280.75 MB +frame_num: 6430 +dataset_size: 280.75 MB +data_structure: "Airbot_MMK2_storage_cake_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- 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 diff --git a/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml b/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd5cba71951911d03a5fad9fd50c3b94908cea6a --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml @@ -0,0 +1,431 @@ +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_electronics_white_basket +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null +- object_name: basket + level1: baskets + level2: basket + 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 mouse box and the calculator box into the white basket by hand. +sub_tasks: +- subtask: Deliver the calculator box from left gripper to right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Grasp the calculator box with the left gripper + subtask_index: 2 +- subtask: Place the calculator box into the white basket with the right gripper + subtask_index: 3 +- subtask: 'null' + subtask_index: 4 +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: 10024 + 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: 363.92 MB +frame_num: 10024 +dataset_size: 363.92 MB +data_structure: "Airbot_MMK2_storage_electronics_white_basket_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- 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 diff --git a/dataset_info/Airbot_MMK2_storage_grape.yaml b/dataset_info/Airbot_MMK2_storage_grape.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d285763adecce2e420376fac4ebe03fdc27ad0c --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_grape.yaml @@ -0,0 +1,428 @@ +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_grape +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: grape + level1: fruits + level2: grape + level3: null + level4: null + level5: null +- object_name: storage_box + level1: storage_utensils + level2: storage_box + 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 grapes into the white box by hand. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Grasp the grape with the right gripper + subtask_index: 1 +- subtask: Place the grape into the storage box with the right gripper + subtask_index: 2 +- subtask: 'null' + subtask_index: 3 +atomic_actions: +- pinch +- place +- lift +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: 5721 + 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: 150.48 MB +frame_num: 5721 +dataset_size: 150.48 MB +data_structure: "Airbot_MMK2_storage_grape_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_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 diff --git a/dataset_info/Airbot_MMK2_storage_ice_cream.yaml b/dataset_info/Airbot_MMK2_storage_ice_cream.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa5b972145504dd9a7ad31906d6601d935a11026 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_ice_cream.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_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: ice_cream + level1: snacks + level2: ice_cream + level3: null + level4: null + level5: null +- object_name: storage_box + level1: laboratory_supplies + level2: storage_box + 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 ice cream into the storage box with left and right hands respectively. +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: Abnormal + subtask_index: 2 +- subtask: Static + subtask_index: 3 +- subtask: Place the ice cream into the white basket with the left gripper + subtask_index: 4 +- subtask: End + subtask_index: 5 +- subtask: Grasp the ice cream with the left 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: 47 + total_frames: 7639 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 307.05 MB +frame_num: 7639 +dataset_size: 307.05 MB +data_structure: "Airbot_MMK2_storage_ice_cream_qced_hardlink/\n|-- annotations\n|\ + \ |-- eef_acc_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| `-- ... (35 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: 0:46 +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 diff --git a/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml b/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa8e5138b94844c3c2465b2e7d315cd5fb6c157e --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml @@ -0,0 +1,451 @@ +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_mango_pomegranate +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: pomegranate + level1: fruit + level2: pomegranate + level3: null + level4: null + level5: null +- object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null +- object_name: storage_box + level1: storage_utensils + level2: storage_box + 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 pomegranate with left hand and put it in the storage box, and pick up + the mango with right hand and put it in the storage box. +sub_tasks: +- subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper + subtask_index: 0 +- subtask: Grasp the pomegranate with the left gripper + subtask_index: 1 +- subtask: Grasp a mango with the right gripper + subtask_index: 2 +- subtask: Static + subtask_index: 3 +- subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper + subtask_index: 4 +- subtask: Grasp a pomegranate with the left gripper + subtask_index: 5 +- subtask: Grasp the mango with the right gripper + subtask_index: 6 +- subtask: End + subtask_index: 7 +- subtask: Place the mango into the right compartment of the storage box with the + right gripper + subtask_index: 8 +- subtask: 'null' + subtask_index: 9 +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: 90 + total_frames: 28506 + fps: 30 + total_tasks: 10 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 895.99 MB +frame_num: 28506 +dataset_size: 895.99 MB +data_structure: "Airbot_MMK2_Airbot_MMK2_storage_mango_pomegranate_qced_hardlink/\n\ + |-- annotations\n| |-- eef_acc_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| `-- ... (78 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: 0:89 +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 diff --git a/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml b/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7aaaed42af89ee0b67303eec91d3d97c266c8111 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml @@ -0,0 +1,429 @@ +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_penguin_doll_tiger_doll +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: doll + level1: toys + level2: doll + 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 doll on the plate. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Grasp the penguin doll with the left gripper + subtask_index: 1 +- subtask: Grasp the tiger doll with the right gripper + subtask_index: 2 +- subtask: Place the penguin doll into the white basket with the left gripper + subtask_index: 3 +- subtask: Abnormal + subtask_index: 4 +- subtask: Place the tiger doll into 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: 100 + total_frames: 13342 + fps: 30 + total_tasks: 7 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 424.08 MB +frame_num: 13342 +dataset_size: 424.08 MB +data_structure: "Airbot_MMK2_storage_penguin_doll_tiger_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| `-- ... (88 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: 0:99 +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.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 diff --git a/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml b/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27bc6ebaffb531e3428ab77fe7b60c5ec2911937 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_pumpkin_right.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_storage_pumpkin_right +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pumpkin + level1: vegetables + level2: pumpkin + level3: null + level4: null + level5: null +- object_name: storage_box + level1: kitchen_supplies + level2: storage_box + 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 pumpkin with right hand and put it in the storage box. +sub_tasks: +- subtask: Place the pumpkin into the right compartment of the storage box + subtask_index: 0 +- subtask: Place the pumpkin into the right compartment of the storage box with the + right gripper + subtask_index: 1 +- subtask: Grasp the pumpkin with the right gripper + subtask_index: 2 +- subtask: End + subtask_index: 3 +- subtask: Static + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +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: 49 + total_frames: 12358 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 463.31 MB +frame_num: 12358 +dataset_size: 463.31 MB +data_structure: "Airbot_MMK2_Airbot_MMK2_storage_pumpkin_right_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_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| `-- ... (37 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: 0:48 +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 diff --git a/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml b/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3a2dc969f60fcd5bc30ce145ea6f822e256fc433 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml @@ -0,0 +1,450 @@ +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_sponge_wet_wipes +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: sponge + level1: cleaning_supplie + level2: sponge + level3: null + level4: null + level5: null +- object_name: wet_wipe + level1: cleaning_supplie + level2: wet_wipes + 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 wet wipes with both hands simultaneously and put them into + the basket at the same time. +sub_tasks: +- subtask: Abnormal + subtask_index: 0 +- subtask: 'Place the sponge into the white basket with the left gripper ' + subtask_index: 1 +- subtask: Static + subtask_index: 2 +- subtask: 'Grasp the sponge with the left gripper ' + subtask_index: 3 +- subtask: Place the wet wipes into the white basket with the right gripper + subtask_index: 4 +- subtask: End + subtask_index: 5 +- subtask: Grasp the wet wipes with 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: 40 + total_frames: 4690 + fps: 30 + total_tasks: 8 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 191.12 MB +frame_num: 4690 +dataset_size: 191.12 MB +data_structure: "Airbot_MMK2_storage_sponge_wet_wipes_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- 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 diff --git a/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml b/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml new file mode 100644 index 0000000000000000000000000000000000000000..111665a4ba580a649ae4652ae9e165d9c092ed1a --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_stationery_xylophone.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_storage_stationery_xylophone +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: xylophone + level1: musical_instrument + level2: xylophone + level3: null + level4: null + level5: null +- object_name: stationery + level1: stationery + level2: stationery + 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 xylophone with left hand and put it in the lid, and pick up the stationery + with right hand and put it in the lid. +sub_tasks: +- subtask: Grasp the xylophone with the left gripper + subtask_index: 0 +- subtask: Place the xylophone on the white lid with the left gripper + subtask_index: 1 +- subtask: Abnormal + subtask_index: 2 +- subtask: Static + subtask_index: 3 +- subtask: Place the tongs on the white lid with the right gripper + subtask_index: 4 +- subtask: End + subtask_index: 5 +- subtask: Grasp the tongs with 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: 47 + total_frames: 24223 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 791.71 MB +frame_num: 24223 +dataset_size: 791.71 MB +data_structure: "Airbot_MMK2_storage_stationery_xylophone_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_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| `-- ... (35 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: 0:46 +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 diff --git a/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml b/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6bf1c415b9ad7236479c748346268f04e38dfd05 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml @@ -0,0 +1,442 @@ +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_tomato_potato +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: potato + level1: vegetables + level2: potato + level3: null + level4: null + level5: null +- object_name: tomato + level1: vegetables + level2: tomato + level3: null + level4: null + level5: null +- object_name: storage_box + level1: storage_utensils + level2: storage_box + 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 potato with left hand and put it in the storage box, and pick up the + tomato with right hand and put it in the storage box. +sub_tasks: +- subtask: Grasp the tomato with the right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Place the potato into the left compartment of the storage box with the + left gripper + subtask_index: 2 +- subtask: Grasp the potato with the left gripper + subtask_index: 3 +- subtask: Place the tomato into the right compartment of the storage box with the + right 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: 47 + total_frames: 6005 + fps: 30 + total_tasks: 6 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 161.13 MB +frame_num: 6005 +dataset_size: 161.13 MB +data_structure: "Airbot_MMK2_storage_tomato_potato_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_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| `-- ... (35 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: 0:46 +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 diff --git a/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml b/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7315224f20f389424cd4a599755cb7404a67207c --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml @@ -0,0 +1,443 @@ +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_swap_bbs_cake_plate +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: bb_pellets + level1: toys + level2: bb_pellets + level3: null + level4: null + level5: null +- object_name: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + 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 bbs out of the plate with left hand and put the cake in with right hand. +sub_tasks: +- subtask: Grasp the cake on the table with the right gripper + subtask_index: 0 +- subtask: Place the bullet on the table with the left gripper + subtask_index: 1 +- subtask: Grasp the bullet into the plate with the left gripper + subtask_index: 2 +- subtask: Abnormal + subtask_index: 3 +- subtask: Place the cake into the plate with the right gripper + subtask_index: 4 +- subtask: Static + subtask_index: 5 +- subtask: End + 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: 49 + total_frames: 7877 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 384.19 MB +frame_num: 7877 +dataset_size: 384.19 MB +data_structure: "Airbot_MMK2_swap_bbs_cake_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (37 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: 0:48 +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 diff --git a/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml b/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c51cf77a93f684a9c76749ac483d793b5a8da9fd --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.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_swap_cake_sponge_plate +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: daily_necessities + level2: cleaning_sponge + level3: null + level4: null + level5: null +- 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 +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take the sponge out of the plate with left hand and put the cake in with right hand. +sub_tasks: +- subtask: Place the sponge on the table with the left gripper + subtask_index: 0 +- subtask: Grasp the cake from the table and with the right gripper + subtask_index: 1 +- subtask: Grasp the sponge from the plate and with the left gripper + subtask_index: 2 +- subtask: Place the cake into the plate 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: 43 + total_frames: 6675 + fps: 30 + total_tasks: 6 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 272.17 MB +frame_num: 6675 +dataset_size: 272.17 MB +data_structure: "Airbot_MMK2_swap_cake_sponge_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (31 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: 0:42 +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 diff --git a/dataset_info/Airbot_MMK2_take_BBs_block.yaml b/dataset_info/Airbot_MMK2_take_BBs_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..845378728de2447bc8a9c97d4f8b8c58447b7071 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_BBs_block.yaml @@ -0,0 +1,435 @@ +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_BBs_block +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: rectangular_building_blocks + level1: building_blocks + level2: rectangular_building_blocks + level3: null + level4: null + level5: null +- object_name: bb_pellets + level1: ball + level2: bb_pellets + 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 rectangular building blocks and bullets out of the plate by hand and place + them on the table. +sub_tasks: +- subtask: Grasp the green rectangular block on the plate with the left gripper + subtask_index: 0 +- subtask: Grasp the bullet on the plate with the right gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Abnormal + subtask_index: 3 +- subtask: Place the bullet on the table with the right gripper + subtask_index: 4 +- subtask: Place the green rectangular block on the table with the left 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: 43 + total_frames: 13927 + fps: 30 + total_tasks: 7 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 449.13 MB +frame_num: 13927 +dataset_size: 449.13 MB +data_structure: "Airbot_MMK2_take_BBs_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\ + | `-- ... (31 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: 0:42 +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 diff --git a/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml b/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml new file mode 100644 index 0000000000000000000000000000000000000000..209a605b9f8bae8ac252736ffde09524e2e5f5f5 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml @@ -0,0 +1,440 @@ +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_bottle_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: empty_bottle + level1: mineral_water + level2: empty_bottle + level3: null + level4: null + level5: null +- object_name: umbrella + level1: daily_necessities + level2: umbrella + 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: +- take the umbrella off the lid with right hand, and then remove the bottle from the + lid with left hand. +sub_tasks: +- subtask: ' Grasp the umbrella placed on the white lid with the left gripper' + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Grasp the Yibao placed on the white lid with the left gripper + subtask_index: 2 +- subtask: Place the umbrella on the table with the right gripper + subtask_index: 3 +- subtask: Place the Yibao on the table 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: 54 + total_frames: 18663 + fps: 30 + total_tasks: 6 + total_videos: 216 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 759.87 MB +frame_num: 18663 +dataset_size: 759.87 MB +data_structure: "Airbot_MMK2_take_bottle_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| `-- ... (42 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: 0:53 +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 diff --git a/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml b/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9342a1193d9181a50ff4b7aa80311c3378da6c64 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_cake_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_cake_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: chocolate_cake + level1: snacks + level2: chocolate_cake + 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: +- take the cake out of the basket with both hands and place it on the table. +sub_tasks: +- subtask: Place the cake on the table with the right gripper + subtask_index: 0 +- subtask: Place the cake on the table with the left gripper + subtask_index: 1 +- subtask: Grasp the cake from the white basket with the left gripper + subtask_index: 2 +- subtask: Grasp the cake from the white basket 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: 48 + total_frames: 6044 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 232.01 MB +frame_num: 6044 +dataset_size: 232.01 MB +data_structure: "Airbot_MMK2_take_cake_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| `-- ... (36 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: 0:47 +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 diff --git a/dataset_info/Airbot_MMK2_take_tissues.yaml b/dataset_info/Airbot_MMK2_take_tissues.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d6864946b0879dac0d95a695c763a9ac9dafd21 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_tissues.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_tissues +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: tissue_paper + level1: kitchen_supplies + level2: tissue_paper + level3: null + level4: null + level5: null +- object_name: white_tray + level1: kitchen_supplies + level2: white_tray + 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 tissue with your hand and put it on the table. +sub_tasks: +- subtask: Place the tissue on the table with the right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Grasp the tissue on the white lid with the right gripper + subtask_index: 2 +- subtask: Place the tissue on the table with the left gripper + subtask_index: 3 +- subtask: Abnormal + subtask_index: 4 +- subtask: Grasp the tissue on the white lid with the left 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: 50 + total_frames: 8995 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 280.64 MB +frame_num: 8995 +dataset_size: 280.64 MB +data_structure: "Airbot_MMK2_take_tissues_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_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 diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json index d440aa048d5546d55376f6f66b6f19439b61d71a..3d8c3d86608f8174cdac992e49c3b89d698e7e76 100644 --- a/info/consolidated_datasets.json +++ b/info/consolidated_datasets.json @@ -10239,6 +10239,525 @@ "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" }, + "Airbot_MMK2_storage_sponge_wet_wipes": { + "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_sponge_wet_wipes", + "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": "sponge", + "level1": "cleaning_supplie", + "level2": "sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wet_wipe", + "level1": "cleaning_supplie", + "level2": "wet_wipes", + "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 wet wipes with both hands simultaneously and put them into the basket at the same time." + ], + "sub_tasks": [ + { + "subtask": "Abnormal", + "subtask_index": 0 + }, + { + "subtask": "Place the sponge into the white basket with the left gripper ", + "subtask_index": 1 + }, + { + "subtask": "Static", + "subtask_index": 2 + }, + { + "subtask": "Grasp the sponge with the left gripper ", + "subtask_index": 3 + }, + { + "subtask": "Place the wet wipes into the white basket with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Grasp the wet wipes with 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": 40, + "total_frames": 4690, + "fps": 30, + "total_tasks": 8, + "total_videos": 160, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "191.12 MB" + }, + "frame_num": 4690, + "dataset_size": "191.12 MB", + "data_structure": "Airbot_MMK2_storage_sponge_wet_wipes_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Cobot_Magic_fold_clothes": { "path": "Cobot_Magic_fold_clothes", "dataset_name": "fold_clothes", @@ -12390,146 +12909,7 @@ "data_schema": "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_the_plate_holds_the_vegetables": { - "path": "Cobot_Magic_the_plate_holds_the_vegetables", - "dataset_name": "the_plate_holds_the_vegetables", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the pumpkin on the plate with right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "vegetables", - "level1": "food", - "level2": "vegetables", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-179090", - "dataset_size": "8.5GB", - "statistics": { - "total_episodes": 505, - "total_frames": 179090, - "total_tasks": 6, - "total_videos": 1515, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3ce5fdfc-c006-40f2-95d9-16a38b9e6337", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the pumpkin on the plate with right gripper", - "Place the radish on the plate with right gripper", - "Place the potato on the plate with left gripper", - "Place the bell pepper on the plate with right gripper", - "Place the eggplant on the plate with right gripper", - "Place the eggplant on the plate with left gripper", - "Grasp the bell pepper with left gripper", - "End", - "Grasp the bell pepper with right gripper", - "Place the bell pepper on the plate with left gripper", - "Grasp the bitter melon with left gripper", - "Grasp the eggplant with right gripper", - "Grasp the potato with left gripper", - "Abnormal", - "Place the radish on the plate with left gripper", - "Grasp the bitter melon with right gripper", - "Grasp the eggplant with left gripper", - "Place the pumpkin on the plate with left gripper", - "Place the carrot on the plate with right gripper", - "Place the carrot on the plate with left gripper", - "Grasp the carrot with left gripper", - "Grasp the radish with left gripper", - "Place the bitter melon on the plate with left gripper", - "Grasp the pumpkin with left gripper", - "Grasp the radish with right gripper", - "Grasp the carrot with right gripper", - "Grasp the potato with right gripper", - "Place the potato on the plate with right gripper", - "Grasp the pumpkin with right gripper", - "Place the bitter melon on the plate with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "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": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_lemon_mango": { + "Airbot_MMK2_move_tennis_racket_ball": { "task_categories": [ "robotics" ], @@ -12559,11 +12939,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_lemon_mango", + "dataset_name": "Airbot_MMK2_move_tennis_racket_ball", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "other", + "level2": "leisure_plaza", "level3": null, "level4": null, "level5": null @@ -12571,25 +12951,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "lemon", - "level1": "fruits", - "level2": "lemon", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mango", - "level1": "fruits", - "level2": "mango", + "object_name": "tennis_racket", + "level1": "toys", + "level2": "tennis_racket", "level3": null, "level4": null, "level5": null }, { - "object_name": "storage_box", - "level1": "storage_utensils", - "level2": "storage_box", + "object_name": "ball", + "level1": "toys", + "level2": "ball", "level3": null, "level4": null, "level5": null @@ -12597,39 +12969,46 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "grab the mango with left hand and the lemon with right hand, and put them into the storage box." + "pick up the racket with your left hand, place the ball on the racket with your right hand, and then put down the racket." ], "sub_tasks": [ { - "subtask": "End", + "subtask": "Lift the racket with the left gripper", "subtask_index": 0 }, { - "subtask": "Place the lemon into the right compartment of the storage box with the right gripper", + "subtask": "Abnormal", "subtask_index": 1 }, { - "subtask": "Place the mango into the left compartment of the storage box with the left gripper", + "subtask": "Place the ball on the racket with the right gripper", "subtask_index": 2 }, { - "subtask": "Grasp the mango with the left gripper", + "subtask": "Place the racket on the table with the left gripper", "subtask_index": 3 }, { - "subtask": "Grasp the lemon with the right gripper", + "subtask": "End", "subtask_index": 4 }, { - "subtask": "null", + "subtask": "Grasp the racket with the left gripper", "subtask_index": 5 + }, + { + "subtask": "Grasp the ball with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 } ], "atomic_actions": [ - "pinch", - "place", - "clip", - "lift" + "grasp", + "pick", + "place" ], "robot_name": [ "Airbot_MMK2" @@ -12663,23 +13042,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 49, - "total_frames": 7685, + "total_episodes": 48, + "total_frames": 10833, "fps": 30, - "total_tasks": 6, - "total_videos": 196, + "total_tasks": 8, + "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "201.65 MB" + "dataset_size": "455.12 MB" }, - "frame_num": 7685, - "dataset_size": "201.65 MB", - "data_structure": "Airbot_MMK2_storage_lemon_mango_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (37 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", + "frame_num": 10833, + "dataset_size": "455.12 MB", + "data_structure": "Airbot_MMK2_move_tennis_racket_ball_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (36 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": "0:48" + "train": "0:47" }, "features": { "observation.images.cam_head_rgb": { @@ -13033,9 +13412,9 @@ "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" }, - "RMC-AIDA-L_glasses_storage": { - "path": "RMC-AIDA-L_glasses_storage", - "dataset_name": "glasses_storage", + "Cobot_Magic_the_plate_holds_the_vegetables": { + "path": "Cobot_Magic_the_plate_holds_the_vegetables", + "dataset_name": "the_plate_holds_the_vegetables", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -13043,12 +13422,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "fold", - "close", - "place" + "place", + "pick" ], - "tasks": "Place the glasses case in the center of the table with your left hand.", + "tasks": "Place the pumpkin on the plate with right gripper", "objects": [ { "object_name": "table", @@ -13059,35 +13436,43 @@ "level5": null }, { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", + "object_name": "vegetables", + "level1": "food", + "level2": "vegetables", "level3": null, "level4": null, "level5": null }, { - "object_name": "glasses", - "level1": "daily_necessities", - "level2": "glasses", + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-861465", - "dataset_size": "8.6GB", + "operation_platform_height": null, + "frame_range": "0-179090", + "dataset_size": "8.5GB", "statistics": { - "total_episodes": 990, - "total_frames": 861465, - "total_tasks": 4, - "total_videos": 2970, + "total_episodes": 505, + "total_frames": 179090, + "total_tasks": 6, + "total_videos": 1515, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "3f805357-8df7-41c3-aa00-a08b08e0915c", + "dataset_uuid": "3ce5fdfc-c006-40f2-95d9-16a38b9e6337", "language": [ "en", "zh" @@ -13096,24 +13481,661 @@ "robotics" ], "sub_tasks": [ - "Place the glasses case in the center of the table with your left hand.", - "Grab the glasses case with your left hand.", - "Lift the glasses with your right hand.", - "Put the glasses into the case with your right hand.", - "Discard.", - "Grab the eyeglass frame with your right hand.", - "Put the glasses into the case with your left hand.", - "end", - "Place the glasses on the table with your left hand.", - "Close the glasses case with your left hand.", - "Grab the frame with your right hand.", - "Lift the glasses with your left hand.", - "Fold the frame with your right hand.", - "Place the glasses case in the center of the table with your right hand.", - "Close the glasses case with your right hand.", - "Fold the frame with your left hand.", - "Grab the glasses with your left hand.", - "Grab the glasses case with your right hand.", + "Place the pumpkin on the plate with right gripper", + "Place the radish on the plate with right gripper", + "Place the potato on the plate with left gripper", + "Place the bell pepper on the plate with right gripper", + "Place the eggplant on the plate with right gripper", + "Place the eggplant on the plate with left gripper", + "Grasp the bell pepper with left gripper", + "End", + "Grasp the bell pepper with right gripper", + "Place the bell pepper on the plate with left gripper", + "Grasp the bitter melon with left gripper", + "Grasp the eggplant with right gripper", + "Grasp the potato with left gripper", + "Abnormal", + "Place the radish on the plate with left gripper", + "Grasp the bitter melon with right gripper", + "Grasp the eggplant with left gripper", + "Place the pumpkin on the plate with left gripper", + "Place the carrot on the plate with right gripper", + "Place the carrot on the plate with left gripper", + "Grasp the carrot with left gripper", + "Grasp the radish with left gripper", + "Place the bitter melon on the plate with left gripper", + "Grasp the pumpkin with left gripper", + "Grasp the radish with right gripper", + "Grasp the carrot with right gripper", + "Grasp the potato with right gripper", + "Place the potato on the plate with right gripper", + "Grasp the pumpkin with right gripper", + "Place the bitter melon on the plate with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "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": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_lemon_mango": { + "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_lemon_mango", + "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": "lemon", + "level1": "fruits", + "level2": "lemon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "fruits", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "storage_utensils", + "level2": "storage_box", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "grab the mango with left hand and the lemon with right hand, and put them into the storage box." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Place the lemon into the right compartment of the storage box with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the mango into the left compartment of the storage box with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the mango with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the lemon with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "pinch", + "place", + "clip", + "lift" + ], + "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": 49, + "total_frames": 7685, + "fps": 30, + "total_tasks": 6, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "201.65 MB" + }, + "frame_num": 7685, + "dataset_size": "201.65 MB", + "data_structure": "Airbot_MMK2_storage_lemon_mango_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (37 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": "0:48" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, + "RMC-AIDA-L_glasses_storage": { + "path": "RMC-AIDA-L_glasses_storage", + "dataset_name": "glasses_storage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "fold", + "close", + "place" + ], + "tasks": "Place the glasses case in the center of the table with your left hand.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses", + "level1": "daily_necessities", + "level2": "glasses", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-861465", + "dataset_size": "8.6GB", + "statistics": { + "total_episodes": 990, + "total_frames": 861465, + "total_tasks": 4, + "total_videos": 2970, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "3f805357-8df7-41c3-aa00-a08b08e0915c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the glasses case in the center of the table with your left hand.", + "Grab the glasses case with your left hand.", + "Lift the glasses with your right hand.", + "Put the glasses into the case with your right hand.", + "Discard.", + "Grab the eyeglass frame with your right hand.", + "Put the glasses into the case with your left hand.", + "end", + "Place the glasses on the table with your left hand.", + "Close the glasses case with your left hand.", + "Grab the frame with your right hand.", + "Lift the glasses with your left hand.", + "Fold the frame with your right hand.", + "Place the glasses case in the center of the table with your right hand.", + "Close the glasses case with your right hand.", + "Fold the frame with your left hand.", + "Grab the glasses with your left hand.", + "Grab the glasses case with your right hand.", "null" ], "annotations": { @@ -19032,6 +20054,501 @@ "data_schema": "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_storage_pumpkin_right": { + "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_pumpkin_right", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "scene_level1", + "level2": "scene_level2", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "pumpkin", + "level1": "vegetables", + "level2": "pumpkin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "kitchen_supplies", + "level2": "storage_box", + "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 pumpkin with right hand and put it in the storage box." + ], + "sub_tasks": [ + { + "subtask": "Place the pumpkin into the right compartment of the storage box", + "subtask_index": 0 + }, + { + "subtask": "Place the pumpkin into the right compartment of the storage box with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the pumpkin with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "End", + "subtask_index": 3 + }, + { + "subtask": "Static", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "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": 49, + "total_frames": 12358, + "fps": 30, + "total_tasks": 6, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "463.31 MB" + }, + "frame_num": 12358, + "dataset_size": "463.31 MB", + "data_structure": "Airbot_MMK2_Airbot_MMK2_storage_pumpkin_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (37 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": "0:48" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Split_aloha_basket_storage_long_bread": { "path": "Split_aloha_basket_storage_long_bread", "dataset_name": "basket_storage_long_bread", @@ -19352,6 +20869,509 @@ "data_schema": "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_storage_cake_plate": { + "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_plate", + "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": "cake", + "level1": "bread", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "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 into the plate with left and right hand respectively." + ], + "sub_tasks": [ + { + "subtask": "Abnormal", + "subtask_index": 0 + }, + { + "subtask": "Grasp the bagged cake with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the bagged cake on the white plate with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Grasp the bagged cake with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the bagged cake on the white plate with the left 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": 6430, + "fps": 30, + "total_tasks": 8, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "280.75 MB" + }, + "frame_num": 6430, + "dataset_size": "280.75 MB", + "data_structure": "Airbot_MMK2_storage_cake_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "AIRBOT_MMK2_diamond_storage": { "path": "AIRBOT_MMK2_diamond_storage", "dataset_name": "diamond_storage", @@ -19966,6 +21986,509 @@ "data_schema": "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_storage_ice_cream": { + "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_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": "ice_cream", + "level1": "snacks", + "level2": "ice_cream", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "laboratory_supplies", + "level2": "storage_box", + "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 ice cream into the storage box with left and right hands respectively." + ], + "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": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "Place the ice cream into the white basket with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Grasp the ice cream with the left 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": 47, + "total_frames": 7639, + "fps": 30, + "total_tasks": 8, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "307.05 MB" + }, + "frame_num": 7639, + "dataset_size": "307.05 MB", + "data_structure": "Airbot_MMK2_storage_ice_cream_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (35 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": "0:46" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "RMC-AIDA-L_get_water": { "path": "RMC-AIDA-L_get_water", "dataset_name": "get_water", @@ -29956,9 +32479,614 @@ "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" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "Airbot_MMK2_move_fake_food": { + "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_fake_food", + "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": "early_education_toys", + "level1": "toys", + "level2": "early_education_toys", + "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 toy food on the toy table with your right hand." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Grasp the small bowl of canned food with right gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the small bowl of canned food on the table with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Abnormal", + "subtask_index": 3 + }, + { + "subtask": "null", + "subtask_index": 4 + } + ], + "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": 7610, + "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": "313.62 MB" + }, + "frame_num": 7610, + "dataset_size": "313.62 MB", + "data_structure": "Airbot_MMK2_move_fake_food_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" }, - "Airbot_MMK2_move_fake_food": { + "Galbot_g1_steamer_storage_baozi_h": { + "path": "Galbot_g1_steamer_storage_baozi_h", + "dataset_name": "steamer_storage_baozi_h", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "baozi", + "level1": "food", + "level2": "baozi", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-979757", + "dataset_size": "18.2GB", + "statistics": { + "total_episodes": 996, + "total_frames": 979757, + "total_tasks": 1, + "total_videos": 2988, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "23188104-2751-4169-b13b-286381a44645", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the baozi on the steamer with right gripper", + "Place the pot lid on the steamer with left gripper", + "Grasp the pot lid with left gripper", + "Grasp the baozi in the plate with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "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": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_pull_tissue": { "task_categories": [ "robotics" ], @@ -29988,7 +33116,7 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_fake_food", + "dataset_name": "Airbot_MMK2_pull_tissue", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", @@ -30000,9 +33128,17 @@ "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", + "object_name": "tissue_paper", + "level1": "kitchen_supplies", + "level2": "paper_towels", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tissue_box", + "level1": "kitchen_supplies", + "level2": "paper_towels", "level3": null, "level4": null, "level5": null @@ -30010,19 +33146,19 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "put the toy food on the toy table with your right hand." + "take a tissue paper out of tissue box by hand." ], "sub_tasks": [ { - "subtask": "End", + "subtask": "Place the tissue on the table with the right gripper", "subtask_index": 0 }, { - "subtask": "Grasp the small bowl of canned food with right gripper", + "subtask": "End", "subtask_index": 1 }, { - "subtask": "Place the small bowl of canned food on the table with the right gripper", + "subtask": "Pull out a piece of tissue with the right gripper", "subtask_index": 2 }, { @@ -30030,8 +33166,12 @@ "subtask_index": 3 }, { - "subtask": "null", + "subtask": "Grasp the a piece of tissue with the right gripper", "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 } ], "atomic_actions": [ @@ -30071,23 +33211,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 7610, + "total_episodes": 49, + "total_frames": 11531, "fps": 30, - "total_tasks": 5, - "total_videos": 200, + "total_tasks": 6, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "313.62 MB" + "dataset_size": "405.79 MB" }, - "frame_num": 7610, - "dataset_size": "313.62 MB", - "data_structure": "Airbot_MMK2_move_fake_food_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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", + "frame_num": 11531, + "dataset_size": "405.79 MB", + "data_structure": "Airbot_MMK2_pull_tissue_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (37 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" + "train": "0:48" }, "features": { "observation.images.cam_head_rgb": { @@ -30441,128 +33581,6 @@ "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" }, - "Galbot_g1_steamer_storage_baozi_h": { - "path": "Galbot_g1_steamer_storage_baozi_h", - "dataset_name": "steamer_storage_baozi_h", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-979757", - "dataset_size": "18.2GB", - "statistics": { - "total_episodes": 996, - "total_frames": 979757, - "total_tasks": 1, - "total_videos": 2988, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "23188104-2751-4169-b13b-286381a44645", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the baozi on the steamer with right gripper", - "Place the pot lid on the steamer with left gripper", - "Grasp the pot lid with left gripper", - "Grasp the baozi in the plate with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "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": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, "leju_robot_pass_the_cleaner_b": { "path": "leju_robot_pass_the_cleaner_b", "dataset_name": "pass_the_cleaner_b", @@ -35329,6 +38347,509 @@ "data_schema": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_take_bottle_umbrella": { + "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_bottle_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": "empty_bottle", + "level1": "mineral_water", + "level2": "empty_bottle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "umbrella", + "level1": "daily_necessities", + "level2": "umbrella", + "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": [ + "take the umbrella off the lid with right hand, and then remove the bottle from the lid with left hand." + ], + "sub_tasks": [ + { + "subtask": " Grasp the umbrella placed on the white lid with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Grasp the Yibao placed on the white lid with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the umbrella on the table with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the Yibao on the table 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": 54, + "total_frames": 18663, + "fps": 30, + "total_tasks": 6, + "total_videos": 216, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "759.87 MB" + }, + "frame_num": 18663, + "dataset_size": "759.87 MB", + "data_structure": "Airbot_MMK2_take_bottle_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| `-- ... (42 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": "0:53" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Airbot_MMK2_storage_bottle_part": { "task_categories": [ "robotics" @@ -50538,6 +54059,509 @@ "data_schema": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_storage_tomato_potato": { + "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_tomato_potato", + "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": "potato", + "level1": "vegetables", + "level2": "potato", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tomato", + "level1": "vegetables", + "level2": "tomato", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "storage_utensils", + "level2": "storage_box", + "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 potato with left hand and put it in the storage box, and pick up the tomato with right hand and put it in the storage box." + ], + "sub_tasks": [ + { + "subtask": "Grasp the tomato with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Place the potato into the left compartment of the storage box with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the potato with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the tomato into the right compartment of the storage box with the right 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": 47, + "total_frames": 6005, + "fps": 30, + "total_tasks": 6, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "161.13 MB" + }, + "frame_num": 6005, + "dataset_size": "161.13 MB", + "data_structure": "Airbot_MMK2_storage_tomato_potato_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (35 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": "0:46" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Galaxea_R1_Lite_arrange_baai_then_brain": { "task_categories": [ "robotics" @@ -67896,6 +71920,509 @@ "data_schema": "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_move_cake_tape_measure": { + "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_cake_tape_measure", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "other", + "level2": "courier_station", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "cake", + "level1": "bread", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "paper_boxes", + "level1": "home_storage", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape_measure", + "level1": "stationery", + "level2": "tape_measure", + "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 cake and tape measure with both hands and place them on the cardboard box." + ], + "sub_tasks": [ + { + "subtask": "Grasp the tape measure with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the bagged waffle on the carton with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the bagged waffle with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the tape measure on the carton 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": 49, + "total_frames": 9381, + "fps": 30, + "total_tasks": 6, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "362.05 MB" + }, + "frame_num": 9381, + "dataset_size": "362.05 MB", + "data_structure": "Airbot_MMK2_move_cake_tape_measure_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (37 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": "0:48" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Airbot_MMK2_take_dog_doll": { "task_categories": [ "robotics" @@ -72452,6 +76979,497 @@ "data_schema": "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_slide_block_onto_post": { + "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_block_onto_post", + "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": "early_education_toys", + "level1": "toys", + "level2": "early_education_toys", + "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 toy back to its original position with right hand." + ], + "sub_tasks": [ + { + "subtask": "Grasp the red cylindrical build blocks with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Place the green cylindrical build blocks on the 1st pillar of the block base with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the red cylindrical build blocks on the 1st pillar of the block base with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Abnormal", + "subtask_index": 4 + }, + { + "subtask": "Grasp the green cylindrical build blocks 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": 189, + "total_frames": 36378, + "fps": 30, + "total_tasks": 7, + "total_videos": 756, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "1.31 GB" + }, + "frame_num": 36378, + "dataset_size": "1.31 GB", + "data_structure": "Airbot_MMK2_slide_block_onto_post_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (177 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": "0:188" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Cobot_Magic_pull_zipper": { "path": "Cobot_Magic_pull_zipper", "dataset_name": "pull_zipper", @@ -84560,11 +89578,629 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_swap_sponge_paper_box_plate", + "dataset_name": "Airbot_MMK2_swap_sponge_paper_box_plate", + "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": "paper_boxes", + "level1": "home_storage", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cleaning_sponge", + "level1": "daily_necessities", + "level2": "cleaning_sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "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 sponge out of the plate with left hand and put the box in with right hand." + ], + "sub_tasks": [ + { + "subtask": "Place the sponge on the table with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the mouse box with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "Place the mouse box into the plate with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Grasp the sponge in the plate with the left 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": 8731, + "fps": 30, + "total_tasks": 8, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "272.24 MB" + }, + "frame_num": 8731, + "dataset_size": "272.24 MB", + "data_structure": "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, + "AIRBOT_MMK2_storage_spoon": { + "path": "AIRBOT_MMK2_storage_spoon", + "dataset_name": "storage_spoon", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Static", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basin", + "level1": "container", + "level2": "basin", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-12204", + "dataset_size": "363.2MB", + "statistics": { + "total_episodes": 49, + "total_frames": 12204, + "total_tasks": 1, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "d4290af8-7a4d-4868-8a9b-2962225648e8", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Static", + "Grasp the spoon with the right gripper", + "End", + "Grasp the spoon with the left gripper", + "Place the spoon into the basin with the right gripper", + "Place the spoon into the basin with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "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_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_take_cup": { + "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_cup", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "catering", + "level2": "cafe", "level3": null, "level4": null, "level5": null @@ -84572,25 +90208,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "paper_boxes", - "level1": "home_storage", - "level2": "paper_boxes", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cleaning_sponge", - "level1": "daily_necessities", - "level2": "cleaning_sponge", + "object_name": "cup", + "level1": "cups", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "lid", + "level1": "storage_utensils", + "level2": "lid", "level3": null, "level4": null, "level5": null @@ -84598,46 +90226,39 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "take the sponge out of the plate with left hand and put the box in with right hand." + "take the cup off the white lid and place them on the table by hands." ], "sub_tasks": [ { - "subtask": "Place the sponge on the table with the left gripper", + "subtask": "place the cup in the table use the left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the mouse box with the right gripper", + "subtask": "place the cup in the table use the right gripper", "subtask_index": 1 }, { - "subtask": "Abnormal", + "subtask": "Grasp the cup the left gripper", "subtask_index": 2 }, { - "subtask": "Static", + "subtask": "Grasp the cup the right gripper", "subtask_index": 3 }, - { - "subtask": "Place the mouse box into the plate with the right gripper", - "subtask_index": 4 - }, { "subtask": "End", - "subtask_index": 5 - }, - { - "subtask": "Grasp the sponge in the plate with the left gripper", - "subtask_index": 6 + "subtask_index": 4 }, { "subtask": "null", - "subtask_index": 7 + "subtask_index": 5 } ], "atomic_actions": [ - "grasp", - "pick", - "place" + "pinch", + "place", + "clip", + "takeout" ], "robot_name": [ "Airbot_MMK2" @@ -84671,23 +90292,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 8731, + "total_episodes": 35, + "total_frames": 5435, "fps": 30, - "total_tasks": 8, - "total_videos": 200, + "total_tasks": 6, + "total_videos": 140, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "272.24 MB" + "dataset_size": "169.73 MB" }, - "frame_num": 8731, - "dataset_size": "272.24 MB", - "data_structure": "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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", + "frame_num": 5435, + "dataset_size": "169.73 MB", + "data_structure": "Airbot_MMK2_take_cup_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (23 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\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:49" + "train": "0:34" }, "features": { "observation.images.cam_head_rgb": { @@ -85041,20 +90662,20 @@ "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" }, - "AIRBOT_MMK2_storage_spoon": { - "path": "AIRBOT_MMK2_storage_spoon", - "dataset_name": "storage_spoon", + "Cobot_Magic_mobile_cube_blackboard": { + "path": "Cobot_Magic_mobile_cube_blackboard", + "dataset_name": "mobile_cube_blackboard", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Static", + "tasks": "Place the block at the correct position to assemble the letter S", "objects": [ { "object_name": "table", @@ -85065,35 +90686,27 @@ "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basin", - "level1": "container", - "level2": "basin", + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-12204", - "dataset_size": "363.2MB", + "frame_range": "0-191398", + "dataset_size": "3.4GB", "statistics": { - "total_episodes": 49, - "total_frames": 12204, + "total_episodes": 100, + "total_frames": 191398, "total_tasks": 1, - "total_videos": 196, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "d4290af8-7a4d-4868-8a9b-2962225648e8", + "dataset_uuid": "679f07f9-efb6-4a77-9347-2423da9981cd", "language": [ "en", "zh" @@ -85102,12 +90715,10 @@ "robotics" ], "sub_tasks": [ - "Static", - "Grasp the spoon with the right gripper", + "Place the block at the correct position to assemble the letter S", + "out of view", "End", - "Grasp the spoon with the left gripper", - "Place the spoon into the basin with the right gripper", - "Place the spoon into the basin with the left gripper", + "Pick up the block on the table", "null" ], "annotations": { @@ -85145,10 +90756,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, 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_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_take_cup": { + "Airbot_MMK2_storage_mango_pomegranate": { "task_categories": [ "robotics" ], @@ -85178,11 +90789,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_cup", + "dataset_name": "Airbot_MMK2_storage_mango_pomegranate", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "catering", - "level2": "cafe", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -85190,17 +90801,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "cup", - "level1": "cups", - "level2": "cup", + "object_name": "pomegranate", + "level1": "fruit", + "level2": "pomegranate", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", + "object_name": "mango", + "level1": "fruit", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", "level1": "storage_utensils", - "level2": "lid", + "level2": "storage_box", "level3": null, "level4": null, "level5": null @@ -85208,39 +90827,54 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "take the cup off the white lid and place them on the table by hands." + "pick up the pomegranate with left hand and put it in the storage box, and pick up the mango with right hand and put it in the storage box." ], "sub_tasks": [ { - "subtask": "place the cup in the table use the left gripper", + "subtask": "Place the pomegranate into the left compartment of the storage box with the left gripper", "subtask_index": 0 }, { - "subtask": "place the cup in the table use the right gripper", + "subtask": "Grasp the pomegranate with the left gripper", "subtask_index": 1 }, { - "subtask": "Grasp the cup the left gripper", + "subtask": "Grasp a mango with the right gripper", "subtask_index": 2 }, { - "subtask": "Grasp the cup the right gripper", + "subtask": "Static", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Place the pomegranate into the left compartment of the storage box with the left gripper", "subtask_index": 4 }, { - "subtask": "null", + "subtask": "Grasp a pomegranate with the left gripper", "subtask_index": 5 + }, + { + "subtask": "Grasp the mango with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "End", + "subtask_index": 7 + }, + { + "subtask": "Place the mango into the right compartment of the storage box with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 } ], "atomic_actions": [ - "pinch", - "place", - "clip", - "takeout" + "grasp", + "pick", + "place" ], "robot_name": [ "Airbot_MMK2" @@ -85274,23 +90908,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 35, - "total_frames": 5435, + "total_episodes": 90, + "total_frames": 28506, "fps": 30, - "total_tasks": 6, - "total_videos": 140, + "total_tasks": 10, + "total_videos": 360, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "169.73 MB" + "dataset_size": "895.99 MB" }, - "frame_num": 5435, - "dataset_size": "169.73 MB", - "data_structure": "Airbot_MMK2_take_cup_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (23 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\n|-- info.yaml\n`-- README.md", + "frame_num": 28506, + "dataset_size": "895.99 MB", + "data_structure": "Airbot_MMK2_Airbot_MMK2_storage_mango_pomegranate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (78 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": "0:34" + "train": "0:89" }, "features": { "observation.images.cam_head_rgb": { @@ -85644,103 +91278,6 @@ "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" }, - "Cobot_Magic_mobile_cube_blackboard": { - "path": "Cobot_Magic_mobile_cube_blackboard", - "dataset_name": "mobile_cube_blackboard", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the block at the correct position to assemble the letter S", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-191398", - "dataset_size": "3.4GB", - "statistics": { - "total_episodes": 100, - "total_frames": 191398, - "total_tasks": 1, - "total_videos": 300, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "679f07f9-efb6-4a77-9347-2423da9981cd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the block at the correct position to assemble the letter S", - "out of view", - "End", - "Pick up the block on the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "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": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, "AgiBot-g1_box_storage_c": { "path": "AgiBot-g1_box_storage_c", "dataset_name": "box_storage_c", @@ -98668,6 +104205,982 @@ "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" }, + "Airbot_MMK2_take_BBs_block": { + "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_BBs_block", + "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": "rectangular_building_blocks", + "level1": "building_blocks", + "level2": "rectangular_building_blocks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bb_pellets", + "level1": "ball", + "level2": "bb_pellets", + "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 rectangular building blocks and bullets out of the plate by hand and place them on the table." + ], + "sub_tasks": [ + { + "subtask": "Grasp the green rectangular block on the plate with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the bullet on the plate with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "Abnormal", + "subtask_index": 3 + }, + { + "subtask": "Place the bullet on the table with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the green rectangular block on the table with the left 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": 43, + "total_frames": 13927, + "fps": 30, + "total_tasks": 7, + "total_videos": 172, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "449.13 MB" + }, + "frame_num": 13927, + "dataset_size": "449.13 MB", + "data_structure": "Airbot_MMK2_take_BBs_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| `-- ... (31 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": "0:42" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, + "Airbot_MMK2_close_door_right": { + "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_close_door_right", + "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": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "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 cabinet door with your right hand." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Close the cupboard door with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Touch the door with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "null", + "subtask_index": 3 + } + ], + "atomic_actions": [ + "push" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "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": 47, + "total_frames": 5437, + "fps": 30, + "total_tasks": 4, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "148.62 MB" + }, + "frame_num": 5437, + "dataset_size": "148.62 MB", + "data_structure": "Airbot_MMK2_close_door_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (35 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": "0:46" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Cobot_Magic_turn_on_the_bulb": { "path": "Cobot_Magic_turn_on_the_bulb", "dataset_name": "turn_on_the_bulb", @@ -102129,6 +108642,994 @@ "data_schema": "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_close_doors": { + "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_close_doors", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "studroom", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "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 door by hand." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Touch the right cabinet door with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Close the door with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Touch the left cabinet door with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Close the door with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "push" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "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": 8141, + "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": "280.57 MB" + }, + "frame_num": 8141, + "dataset_size": "280.57 MB", + "data_structure": "Airbot_MMK2_close_doors_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, + "Airbot_MMK2_take_cake_both_hands": { + "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_cake_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": "chocolate_cake", + "level1": "snacks", + "level2": "chocolate_cake", + "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": [ + "take the cake out of the basket with both hands and place it on the table." + ], + "sub_tasks": [ + { + "subtask": "Place the cake on the table with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the cake on the table with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the cake from the white basket with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the cake from the white basket 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": 48, + "total_frames": 6044, + "fps": 30, + "total_tasks": 6, + "total_videos": 192, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "232.01 MB" + }, + "frame_num": 6044, + "dataset_size": "232.01 MB", + "data_structure": "Airbot_MMK2_take_cake_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| `-- ... (36 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": "0:47" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "leju_robot_moving_parts_u": { "path": "leju_robot_moving_parts_u", "dataset_name": "moving_parts_u", @@ -114759,6 +122260,501 @@ "data_schema": "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_storage_bell_pepper_bowl": { + "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_bell_pepper_bowl", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "living_room", + "level2": "household", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "yellow_bell_pepper", + "level1": "vegetables", + "level2": "yellow_bell_pepper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "kitchen_supplies", + "level2": "bowl", + "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 yellow green peppers into the bowl with right hand." + ], + "sub_tasks": [ + { + "subtask": "Abnormal", + "subtask_index": 0 + }, + { + "subtask": "Place yellow round chili pepper on the blue bowl with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the yellow round chili pepper with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "End", + "subtask_index": 3 + }, + { + "subtask": "Static", + "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": 4495, + "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": "149.48 MB" + }, + "frame_num": 4495, + "dataset_size": "149.48 MB", + "data_structure": "Airbot_MMK2_Airbot_MMK2_storage_bell_pepper_bowl_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "AIRBOT_MMK2_place_the_blue_and_purple_blocks": { "path": "AIRBOT_MMK2_place_the_blue_and_purple_blocks", "dataset_name": "place_the_blue_and_purple_blocks", @@ -117361,6 +125357,517 @@ "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" }, + "Airbot_MMK2_swap_bbs_cake_plate": { + "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_swap_bbs_cake_plate", + "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": "bb_pellets", + "level1": "toys", + "level2": "bb_pellets", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cake", + "level1": "bread", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "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 bbs out of the plate with left hand and put the cake in with right hand." + ], + "sub_tasks": [ + { + "subtask": "Grasp the cake on the table with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the bullet on the table with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the bullet into the plate with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Abnormal", + "subtask_index": 3 + }, + { + "subtask": "Place the cake into the plate with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Static", + "subtask_index": 5 + }, + { + "subtask": "End", + "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": 49, + "total_frames": 7877, + "fps": 30, + "total_tasks": 8, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "384.19 MB" + }, + "frame_num": 7877, + "dataset_size": "384.19 MB", + "data_structure": "Airbot_MMK2_swap_bbs_cake_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (37 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": "0:48" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "R1_Lite_opening_and_closing_aalcony_sliding_doors": { "path": "R1_Lite_opening_and_closing_aalcony_sliding_doors", "dataset_name": "opening_and_closing_aalcony_sliding_doors", @@ -118065,6 +126572,508 @@ "data_schema": "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_remove_lid": { + "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_remove_lid", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "scene_level1", + "level2": "scene_level2", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "lid", + "level1": "storage_utensils", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "laboratory_supplies", + "level2": "box", + "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 lid of the foam box." + ], + "sub_tasks": [ + { + "subtask": "Place the lid of the foam box on the table with your left gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Grasp the lid of the foam box with your left gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the lid of the foam box with your right gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the lid of the foam box on the table with your right gripper", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "lift", + "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": 47, + "total_frames": 11589, + "fps": 30, + "total_tasks": 6, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "403.42 MB" + }, + "frame_num": 11589, + "dataset_size": "403.42 MB", + "data_structure": "Airbot_MMK2_remove_lid_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (35 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": "0:46" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Airbot_MMK2_push_plunger": { "task_categories": [ "robotics" @@ -120179,66 +129188,674 @@ 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" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, + "Split_aloha_basket_storage_bread": { + "path": "Split_aloha_basket_storage_bread", + "dataset_name": "basket_storage_bread", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "abnormal", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-211779", + "dataset_size": "4.3GB", + "statistics": { + "total_episodes": 497, + "total_frames": 211779, + "total_tasks": 4, + "total_videos": 1491, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c86fb8b5-8845-4798-9c83-f3a7aec176f7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "abnormal", + "Pick up the bread", + "Move the basket to the center of view", + "place the bread into the basket", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "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": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_potato_left": { + "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_potato_left", + "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": "potato", + "level1": "vegetables", + "level2": "potato", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "storage_utensils", + "level2": "storage_box", + "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 potato with left hand and put it in the storage box." + ], + "sub_tasks": [ + { + "subtask": "Grasp the potato with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the potato with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Place the potato into the left compartment of the storage box with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Static", + "subtask_index": 5 + }, + { + "subtask": "Place the potato into the right compartment of the storage box with 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": 69, + "total_frames": 8728, + "fps": 30, + "total_tasks": 8, + "total_videos": 276, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "322.26 MB" + }, + "frame_num": 8728, + "dataset_size": "322.26 MB", + "data_structure": "Airbot_MMK2_Airbot_MMK2_storage_potato_left_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (57 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": "0:68" + }, + "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": { @@ -120260,11 +129877,11 @@ "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" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Split_aloha_basket_storage_bread": { - "path": "Split_aloha_basket_storage_bread", - "dataset_name": "basket_storage_bread", + "AgiBot-g1_storage_item_e": { + "path": "AgiBot-g1_storage_item_e", + "dataset_name": "storage_item_e", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -120275,7 +129892,7 @@ "place", "pick" ], - "tasks": "abnormal", + "tasks": "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", "objects": [ { "object_name": "table", @@ -120286,35 +129903,43 @@ "level5": null }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", + "object_name": "data_cable", + "level1": "tool", + "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", + "object_name": "box", "level1": "container", - "level2": "basket", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse", + "level1": "tool", + "level2": "mouse", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-211779", - "dataset_size": "4.3GB", + "operation_platform_height": null, + "frame_range": "0-212067", + "dataset_size": "92.8GB", "statistics": { - "total_episodes": 497, - "total_frames": 211779, - "total_tasks": 4, - "total_videos": 1491, + "total_episodes": 507, + "total_frames": 212067, + "total_tasks": 1, + "total_videos": 4056, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c86fb8b5-8845-4798-9c83-f3a7aec176f7", + "dataset_uuid": "6d8ca1f6-f9cf-4b0c-bef5-fca799793086", "language": [ "en", "zh" @@ -120323,10 +129948,8 @@ "robotics" ], "sub_tasks": [ - "abnormal", - "Pick up the bread", - "Move the basket to the center of view", - "place the bread into the basket", + "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", + "Place the mouse and power cord into the box", "null" ], "annotations": { @@ -120364,10 +129987,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, 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": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_potato_left": { + "Airbot_MMK2_storage_electronics_white_basket": { "task_categories": [ "robotics" ], @@ -120397,11 +130020,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_potato_left", + "dataset_name": "Airbot_MMK2_storage_electronics_white_basket", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "industry", + "level2": "factory", "level3": null, "level4": null, "level5": null @@ -120409,17 +130032,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "potato", - "level1": "vegetables", - "level2": "potato", + "object_name": "paper_boxes", + "level1": "packaging", + "level2": "paper_boxes", "level3": null, "level4": null, "level5": null }, { - "object_name": "storage_box", - "level1": "storage_utensils", - "level2": "storage_box", + "object_name": "basket", + "level1": "baskets", + "level2": "basket", "level3": null, "level4": null, "level5": null @@ -120427,40 +130050,28 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the potato with left hand and put it in the storage box." + "put the mouse box and the calculator box into the white basket by hand." ], "sub_tasks": [ { - "subtask": "Grasp the potato with the right gripper", + "subtask": "Deliver the calculator box from left gripper to right gripper", "subtask_index": 0 }, { - "subtask": "Grasp the potato with the left gripper", + "subtask": "End", "subtask_index": 1 }, { - "subtask": "Abnormal", + "subtask": "Grasp the calculator box with the left gripper", "subtask_index": 2 }, { - "subtask": "Place the potato into the left compartment of the storage box with the left gripper", + "subtask": "Place the calculator box into the white basket with the right gripper", "subtask_index": 3 }, - { - "subtask": "End", - "subtask_index": 4 - }, - { - "subtask": "Static", - "subtask_index": 5 - }, - { - "subtask": "Place the potato into the right compartment of the storage box with the right gripper", - "subtask_index": 6 - }, { "subtask": "null", - "subtask_index": 7 + "subtask_index": 4 } ], "atomic_actions": [ @@ -120500,23 +130111,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 69, - "total_frames": 8728, + "total_episodes": 50, + "total_frames": 10024, "fps": 30, - "total_tasks": 8, - "total_videos": 276, + "total_tasks": 5, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "322.26 MB" + "dataset_size": "363.92 MB" }, - "frame_num": 8728, - "dataset_size": "322.26 MB", - "data_structure": "Airbot_MMK2_Airbot_MMK2_storage_potato_left_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (57 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", + "frame_num": 10024, + "dataset_size": "363.92 MB", + "data_structure": "Airbot_MMK2_storage_electronics_white_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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": "0:68" + "train": "0:49" }, "features": { "observation.images.cam_head_rgb": { @@ -120870,117 +130481,6 @@ "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" }, - "AgiBot-g1_storage_item_e": { - "path": "AgiBot-g1_storage_item_e", - "dataset_name": "storage_item_e", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "data_cable", - "level1": "tool", - "level2": "data_cable", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mouse", - "level1": "tool", - "level2": "mouse", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-212067", - "dataset_size": "92.8GB", - "statistics": { - "total_episodes": 507, - "total_frames": 212067, - "total_tasks": 1, - "total_videos": 4056, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "6d8ca1f6-f9cf-4b0c-bef5-fca799793086", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", - "Place the mouse and power cord into the box", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "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": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, "Galbot_g1_steamer_storage_baozi_c": { "path": "Galbot_g1_steamer_storage_baozi_c", "dataset_name": "steamer_storage_baozi_c", @@ -122654,6 +132154,493 @@ "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" }, + "Airbot_MMK2_storage_grape": { + "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_grape", + "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": "grape", + "level1": "fruits", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "storage_utensils", + "level2": "storage_box", + "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 grapes into the white box by hand." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Grasp the grape with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the grape into the storage box with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "null", + "subtask_index": 3 + } + ], + "atomic_actions": [ + "pinch", + "place", + "lift" + ], + "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": 5721, + "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": "150.48 MB" + }, + "frame_num": 5721, + "dataset_size": "150.48 MB", + "data_structure": "Airbot_MMK2_storage_grape_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Agilex_Cobot_Magic_storage_peach_left": { "task_categories": [ "robotics" @@ -124088,6 +134075,509 @@ "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" }, + "Airbot_MMK2_swap_cake_sponge_plate": { + "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_swap_cake_sponge_plate", + "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": "daily_necessities", + "level2": "cleaning_sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "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 + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "take the sponge out of the plate with left hand and put the cake in with right hand." + ], + "sub_tasks": [ + { + "subtask": "Place the sponge on the table with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the cake from the table and with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the sponge from the plate and with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the cake into the plate 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": 43, + "total_frames": 6675, + "fps": 30, + "total_tasks": 6, + "total_videos": 172, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "272.17 MB" + }, + "frame_num": 6675, + "dataset_size": "272.17 MB", + "data_structure": "Airbot_MMK2_swap_cake_sponge_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (31 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": "0:42" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Galaxea_R1_Lite_storage_object_blue_plate": { "task_categories": [ "robotics" @@ -125339,6 +135829,501 @@ "data_schema": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_storage_badminton": { + "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_badminton", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "other", + "level2": "leisure_plaza", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "badminton", + "level1": "toys", + "level2": "badminton", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "laboratory_supplies", + "level2": "storage_box", + "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 badminton shuttlecock into the storage box with left and right hands respectively." + ], + "sub_tasks": [ + { + "subtask": "Grasp the badminton with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the badminton into the left compartment of the storage box with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "Grasp the badminton with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the badminton into the right compartment of the storage box with the right 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": 49, + "total_frames": 8382, + "fps": 30, + "total_tasks": 6, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "253.84 MB" + }, + "frame_num": 8382, + "dataset_size": "253.84 MB", + "data_structure": "Airbot_MMK2_storage_badminton_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (37 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": "0:48" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Airbot_MMK2_storage_cup_plate": { "task_categories": [ "robotics" @@ -132417,6 +143402,517 @@ "data_schema": "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, + "Airbot_MMK2_storage_stationery_xylophone": { + "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_stationery_xylophone", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "scene_level1", + "level2": "scene_level2", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "xylophone", + "level1": "musical_instrument", + "level2": "xylophone", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "stationery", + "level1": "stationery", + "level2": "stationery", + "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 xylophone with left hand and put it in the lid, and pick up the stationery with right hand and put it in the lid." + ], + "sub_tasks": [ + { + "subtask": "Grasp the xylophone with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the xylophone on the white lid with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "Place the tongs on the white lid with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Grasp the tongs with 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": 47, + "total_frames": 24223, + "fps": 30, + "total_tasks": 8, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "791.71 MB" + }, + "frame_num": 24223, + "dataset_size": "791.71 MB", + "data_structure": "Airbot_MMK2_storage_stationery_xylophone_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (35 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": "0:46" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "RMC-AIDA-L_food_storage": { "path": "RMC-AIDA-L_food_storage", "dataset_name": "food_storage", @@ -157862,6 +169358,505 @@ "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" }, + "Airbot_MMK2_take_tissues": { + "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_tissues", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "other", + "level2": "laboratory", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "tissue_paper", + "level1": "kitchen_supplies", + "level2": "tissue_paper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "white_tray", + "level1": "kitchen_supplies", + "level2": "white_tray", + "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 tissue with your hand and put it on the table." + ], + "sub_tasks": [ + { + "subtask": "Place the tissue on the table with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Grasp the tissue on the white lid with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the tissue on the table with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Abnormal", + "subtask_index": 4 + }, + { + "subtask": "Grasp the tissue on the white lid with the left 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": 50, + "total_frames": 8995, + "fps": 30, + "total_tasks": 7, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "280.64 MB" + }, + "frame_num": 8995, + "dataset_size": "280.64 MB", + "data_structure": "Airbot_MMK2_take_tissues_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "Agilex_Cobot_Magic_storage_object_left": { "task_categories": [ "robotics" @@ -164833,6 +176828,497 @@ "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" }, + "Airbot_MMK2_storage_penguin_doll_tiger_doll": { + "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_penguin_doll_tiger_doll", + "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": "doll", + "level1": "toys", + "level2": "doll", + "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 doll on the plate." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Grasp the penguin doll with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the tiger doll with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the penguin doll into the white basket with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Abnormal", + "subtask_index": 4 + }, + { + "subtask": "Place the tiger doll into 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": 100, + "total_frames": 13342, + "fps": 30, + "total_tasks": 7, + "total_videos": 400, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "424.08 MB" + }, + "frame_num": 13342, + "dataset_size": "424.08 MB", + "data_structure": "Airbot_MMK2_storage_penguin_doll_tiger_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| `-- ... (88 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": "0:99" + }, + "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.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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "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" + }, "R1_Lite_clean_toilet": { "path": "R1_Lite_clean_toilet", "dataset_name": "clean_toilet", diff --git a/info/data_index.json b/info/data_index.json index 6413d8909e6d4c2d8b360e6f7fa07735f1cafe73..64f6b2a396065f2a1866facb21b58a570ecc6714 100644 --- a/info/data_index.json +++ b/info/data_index.json @@ -146,6 +146,8 @@ "Agilex_Cobot_Magic_storage_peach_left", "Agilex_Cobot_Magic_storage_peach_right", "Airbot_MMK2_click_pen", + "Airbot_MMK2_close_door_right", + "Airbot_MMK2_close_doors", "Airbot_MMK2_close_drawer", "Airbot_MMK2_close_lid", "Airbot_MMK2_cover_lid", @@ -159,12 +161,14 @@ "Airbot_MMK2_move_book_right_side", "Airbot_MMK2_move_bottle_tape_measure", "Airbot_MMK2_move_cake", + "Airbot_MMK2_move_cake_tape_measure", "Airbot_MMK2_move_cup_paper_box", "Airbot_MMK2_move_fake_food", "Airbot_MMK2_move_medicine_bottle", "Airbot_MMK2_move_pan", "Airbot_MMK2_move_phone_twice", "Airbot_MMK2_move_sword_doll", + "Airbot_MMK2_move_tennis_racket_ball", "Airbot_MMK2_move_tub", "Airbot_MMK2_move_umbrella_tissues", "Airbot_MMK2_open_door_left", @@ -178,19 +182,24 @@ "Airbot_MMK2_pour_BBs", "Airbot_MMK2_prepare_tea", "Airbot_MMK2_pull_plunger", + "Airbot_MMK2_pull_tissue", "Airbot_MMK2_push_away_book", "Airbot_MMK2_push_plunger", "Airbot_MMK2_push_toy_car", + "Airbot_MMK2_remove_lid", "Airbot_MMK2_remove_pen_cap", "Airbot_MMK2_rotate_cube_face", "Airbot_MMK2_slide_block", + "Airbot_MMK2_slide_block_onto_post", "Airbot_MMK2_slide_tape_onto_can", "Airbot_MMK2_stack_block", "Airbot_MMK2_stack_bowl", "Airbot_MMK2_stack_cubic_block", "Airbot_MMK2_storage_and_take_cake_plate", "Airbot_MMK2_storage_apple_orange", + "Airbot_MMK2_storage_badminton", "Airbot_MMK2_storage_bell_pepper", + "Airbot_MMK2_storage_bell_pepper_bowl", "Airbot_MMK2_storage_block", "Airbot_MMK2_storage_block_BBs", "Airbot_MMK2_storage_block_both_hands", @@ -204,6 +213,7 @@ "Airbot_MMK2_storage_cake_cup", "Airbot_MMK2_storage_cake_ice_cream", "Airbot_MMK2_storage_cake_pan", + "Airbot_MMK2_storage_cake_plate", "Airbot_MMK2_storage_cookie_cup", "Airbot_MMK2_storage_cookie_toy_car", "Airbot_MMK2_storage_cup", @@ -214,41 +224,56 @@ "Airbot_MMK2_storage_egg_bowl", "Airbot_MMK2_storage_egg_plate", "Airbot_MMK2_storage_egg_yellow_box", + "Airbot_MMK2_storage_electronics_white_basket", "Airbot_MMK2_storage_electronics_yellow_baket", "Airbot_MMK2_storage_gold_bar_model_shark_doll", + "Airbot_MMK2_storage_grape", "Airbot_MMK2_storage_hourglass", + "Airbot_MMK2_storage_ice_cream", "Airbot_MMK2_storage_lemon_mango", + "Airbot_MMK2_storage_mango_pomegranate", "Airbot_MMK2_storage_network_cable_paper_box", "Airbot_MMK2_storage_paper_box_sponge", "Airbot_MMK2_storage_peach_pear", + "Airbot_MMK2_storage_penguin_doll_tiger_doll", "Airbot_MMK2_storage_pineapple", "Airbot_MMK2_storage_potato_left", "Airbot_MMK2_storage_potato_pumpkin", "Airbot_MMK2_storage_pumpkin_left", + "Airbot_MMK2_storage_pumpkin_right", "Airbot_MMK2_storage_shark_doll", + "Airbot_MMK2_storage_sponge_wet_wipes", "Airbot_MMK2_storage_spoon", + "Airbot_MMK2_storage_stationery_xylophone", "Airbot_MMK2_storage_tape_measure_umbrella", "Airbot_MMK2_storage_tissues_tub", + "Airbot_MMK2_storage_tomato_potato", "Airbot_MMK2_storage_tools", "Airbot_MMK2_storage_tumbler_umbrella", "Airbot_MMK2_storge_cake_ice_cream", "Airbot_MMK2_swap_apple_cake_plate", "Airbot_MMK2_swap_bbs_block_plate", + "Airbot_MMK2_swap_bbs_cake_plate", "Airbot_MMK2_swap_bottle_wet_wipes_plate", "Airbot_MMK2_swap_bread_cake_plate", "Airbot_MMK2_swap_cake_pumpkin_plate", + "Airbot_MMK2_swap_cake_sponge_plate", "Airbot_MMK2_swap_sponge_paper_box_plate", "Airbot_MMK2_sweep_peaper", + "Airbot_MMK2_take_BBs_block", "Airbot_MMK2_take_block", "Airbot_MMK2_take_block_both_hands", "Airbot_MMK2_take_book", + "Airbot_MMK2_take_bottle_umbrella", "Airbot_MMK2_take_bowl_sponge", + "Airbot_MMK2_take_cake_both_hands", "Airbot_MMK2_take_cup", "Airbot_MMK2_take_dog_doll", "Airbot_MMK2_take_drink", "Airbot_MMK2_take_egg", "Airbot_MMK2_take_electronics", "Airbot_MMK2_take_part_both_hands", + "Airbot_MMK2_take_tissues", "Airbot_MMK2_take_toy_car", "Airbot_MMK2_turn_page", "Airbot_MMK2_unplug", @@ -606,5 +631,5 @@ "leju_robot_pass_the_cleaner_d", "leju_robot_pass_the_cleaner_e" ], - "count": 605 + "count": 630 } \ No newline at end of file diff --git a/thumbnails/Airbot_MMK2_close_door_right.jpg b/thumbnails/Airbot_MMK2_close_door_right.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ab3b2ee836a19aee14bdd8e549166b8a7342e8b8 --- /dev/null +++ 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