Update RoboCOIN assets

dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml

@@ -0,0 +1,507 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_erase_board_passing_left_to_right
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: education
+  level2: school
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard
+  level1: stationery
+  level2: whiteboard
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use the left gripper to place the eraser in the right, use the right gripper to
+  pick up the eraser, wipe the notes on the whiteboard clean, and then put it down.
+sub_tasks:
+- subtask: Right gripper
+  subtask_index: 0
+- subtask: Move the board eraser to the center of the whiteboard with left gripper
+  subtask_index: 1
+- subtask: Wipe off the writing on the board with right gripper
+  subtask_index: 2
+- subtask: Place the board eraser on the right side of board with right gripper
+  subtask_index: 3
+- subtask: Move the board eraser to the right of the whiteboard with right gripper
+  subtask_index: 4
+- subtask: Pick up the board eraser with right gripper
+  subtask_index: 5
+- subtask: Move the board eraser to the right of the whiteboard with left gripper
+  subtask_index: 6
+- subtask: End
+  subtask_index: 7
+- subtask: Left gripper
+  subtask_index: 8
+- subtask: 'null'
+  subtask_index: 9
+atomic_actions:
+- grasp
+- lift
+- wipe
+- handover
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 38393
+  fps: 30
+  total_tasks: 10
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 335.24 MB
+frame_num: 38393
+dataset_size: 335.24 MB
+data_structure: 'Agilex_Cobot_Magic_erase_board_passing_left_to_right_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml

@@ -0,0 +1,511 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_fold_short_sleeve_black
+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: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: black_T-shirt
+  level1: clothing
+  level2: black_T-shirt
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_tray
+  level1: kitchen_supplies
+  level2: green_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:
+- use two grippers to fold the black short sleeve, and use the left claw to place
+  the folded black short sleeve on the tray.
+sub_tasks:
+- subtask: Lift the black T-shirt with the left gripper
+  subtask_index: 0
+- subtask: Lift the black T-shirt with the right gripper
+  subtask_index: 1
+- subtask: Grasp the black T-shirt with the left gripper
+  subtask_index: 2
+- subtask: Fold the black T-shirt downward with the right gripper
+  subtask_index: 3
+- subtask: Grasp the black T-shirt with the right gripper
+  subtask_index: 4
+- subtask: Fold the black T-shirt downward with the left gripper
+  subtask_index: 5
+- subtask: Fold the black T-shirt from right to left with right gripper
+  subtask_index: 6
+- subtask: abnormal
+  subtask_index: 7
+- subtask: end
+  subtask_index: 8
+- subtask: Fold the black T-shirt from left to right with left gripper
+  subtask_index: 9
+- subtask: Place the folded black T-shirt on the green tray with the left gripper
+  subtask_index: 10
+- subtask: 'null'
+  subtask_index: 11
+atomic_actions:
+- grasp
+- lift
+- lower
+- fold
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 76223
+  fps: 30
+  total_tasks: 12
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 999.69 MB
+frame_num: 76223
+dataset_size: 999.69 MB
+data_structure: 'Agilex_Cobot_Magic_fold_short_sleeve_black_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml

@@ -0,0 +1,1224 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_move_object_green_tablecloth
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: commercial & convenience
+  level2: supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_table_cloths
+  level1: laboratory_supplies
+  level2: green_table_cloths
+  level3: null
+  level4: null
+  level5: null
+- object_name: waffle
+  level1: food
+  level2: waffle
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_lemon
+  level1: food
+  level2: green_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: eggplant
+  level1: food
+  level2: eggplant
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: chocolate
+  level1: food
+  level2: chocolate
+  level3: null
+  level4: null
+  level5: null
+- object_name: mango
+  level1: food
+  level2: mango
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: mint_candy
+  level1: food
+  level2: mint_candy
+  level3: null
+  level4: null
+  level5: null
+- object_name: mangosteen
+  level1: food
+  level2: mangosteen
+  level3: null
+  level4: null
+  level5: null
+- object_name: orange
+  level1: food
+  level2: orange
+  level3: null
+  level4: null
+  level5: null
+- object_name: bread
+  level1: food
+  level2: bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: food
+  level2: banana
+  level3: null
+  level4: Fruit cake
+  level5: null
+- object_name: cake
+  level1: food
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: beef_cheeseburger
+  level1: food
+  level2: beef_cheeseburger
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: pan
+  level1: kitchen_supplies
+  level2: pan
+  level3: null
+  level4: null
+  level5: null
+- object_name: small_teapot
+  level1: kitchen_supplies
+  level2: small_teapot
+  level3: null
+  level4: null
+  level5: null
+- object_name: small_teacup
+  level1: kitchen_supplies
+  level2: small_teacup
+  level3: null
+  level4: null
+  level5: null
+- object_name: paper_ball
+  level1: trash
+  level2: paper_ball
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_square_towel
+  level1: daily_necessities
+  level2: brown_square_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: black_cylindrical_pen_holder
+  level1: stationery
+  level2: black_cylindrical_pen_holder
+  level3: null
+  level4: null
+  level5: null
+- object_name: pink_long_towel
+  level1: daily_necessities
+  level2: pink_long_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: duck
+  level1: toys
+  level2: duck
+  level3: null
+  level4: null
+  level5: null
+- object_name: compass
+  level1: stationery
+  level2: compass
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_long_towel
+  level1: daily_necessities
+  level2: blue_long_towel
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- the gripper move the object.
+sub_tasks:
+- subtask: Place the XX on the table with the left gripper
+  subtask_index: 0
+- subtask: 'Grasp the blue blackboard earser with the right gripper
+
+    '
+  subtask_index: 1
+- subtask: 'Grasp the square chewing gun  with the right gripper '
+  subtask_index: 2
+- subtask: 'Grasp the pen container with the right gripper
+
+    '
+  subtask_index: 3
+- subtask: 'Grasp the blue bowl with the left gripper
+
+    '
+  subtask_index: 4
+- subtask: 'Place the hard blackbaord cleanser on the table with the left gripper
+
+    '
+  subtask_index: 5
+- subtask: 'Place the blue towel on the table with the right gripper
+
+    '
+  subtask_index: 6
+- subtask: 'Grasp the orange with the right gripper
+
+    '
+  subtask_index: 7
+- subtask: 'Grasp the white blackboard earser with the left gripper
+
+    '
+  subtask_index: 8
+- subtask: 'Place the mangosteen on the table with the left gripper
+
+    '
+  subtask_index: 9
+- subtask: Grasp the pen container with the right gripper
+  subtask_index: 10
+- subtask: Place the  pen container on the table with the right gripper
+  subtask_index: 11
+- subtask: Grasp the white blackboard earser with left gripper
+  subtask_index: 12
+- subtask: Place the blue bowl on the table with the right gripper
+  subtask_index: 13
+- subtask: Place the eggplant on the table with the right gripper
+  subtask_index: 14
+- subtask: 'Place the blue blackboard earser on the table with the right gripper
+
+    '
+  subtask_index: 15
+- subtask: 'Place the blue blackboard earser  on the table with the right gripper
+
+    '
+  subtask_index: 16
+- subtask: 'Place the orange on the table with the right gripper
+
+    '
+  subtask_index: 17
+- subtask: 'Place the blue bowl on the table with the right gripper
+
+    '
+  subtask_index: 18
+- subtask: 'Place the brown towel on the table with the left gripper
+
+    '
+  subtask_index: 19
+- subtask: 'Grasp the cyan cup with the right gripper    '
+  subtask_index: 20
+- subtask: Place the compasses on the table with the right gripper
+  subtask_index: 21
+- subtask: Grasp the compasses with the right gripper
+  subtask_index: 22
+- subtask: 'Grasp the green lemon with the right gripper
+
+    '
+  subtask_index: 23
+- subtask: 'Grasp the cyan cup with the left gripper
+
+    '
+  subtask_index: 24
+- subtask: 'Place the wallfe on the table with the left gripper
+
+    '
+  subtask_index: 25
+- subtask: 'Place the blue bowl on the table with the left gripper
+
+    '
+  subtask_index: 26
+- subtask: Grasp the fruit candy with the left gripper
+  subtask_index: 27
+- subtask: Grasp the orange with the right gripper
+  subtask_index: 28
+- subtask: Place the green lemon on the table with the right gripper
+  subtask_index: 29
+- subtask: 'Grasp the cyan cup with the right gripper
+
+    '
+  subtask_index: 30
+- subtask: 'Grasp the wallfe with the right gripper
+
+    '
+  subtask_index: 31
+- subtask: 'Grasp the green lemon with the left gripper
+
+    '
+  subtask_index: 32
+- subtask: 'Place the white blackboard earser on the table with the right gripper
+
+    '
+  subtask_index: 33
+- subtask: '
+
+    Grasp the green lemon with the right gripper'
+  subtask_index: 34
+- subtask: 'Grasp the square chewing gun  with the left gripper
+
+    '
+  subtask_index: 35
+- subtask: Grasp the square chewing gum with the left gripper
+  subtask_index: 36
+- subtask: 'Grasp the  with cyan cup the left gripper
+
+    '
+  subtask_index: 37
+- subtask: Place the blue bowl on the table with the left gripper
+  subtask_index: 38
+- subtask: 'Grasp the tea[ot with the left gripper
+
+    '
+  subtask_index: 39
+- subtask: 'Grasp the cyan cup with the right gripper '
+  subtask_index: 40
+- subtask: 'Place the wallfe on the table with the right gripper
+
+    '
+  subtask_index: 41
+- subtask: 'Place the pen container  on the table with the right gripper
+
+    '
+  subtask_index: 42
+- subtask: Place the eggplant on the table with the left gripper
+  subtask_index: 43
+- subtask: 'Grasp the hard facial cleanser with the right gripper
+
+    '
+  subtask_index: 44
+- subtask: 'Place the ornage on the table with the right gripper
+
+    '
+  subtask_index: 45
+- subtask: 'Grasp the pen container  with the left gripper
+
+    '
+  subtask_index: 46
+- subtask: Place the fruit candy on the table with the left gripper
+  subtask_index: 47
+- subtask: Grasp the hard facial cleanser with the left gripper
+  subtask_index: 48
+- subtask: Grasp the chocolate with the right gripper
+  subtask_index: 49
+- subtask: 'Grasp the blue blackboard earser with the right gripper '
+  subtask_index: 50
+- subtask: Grasp the mangosteen with the left gripper
+  subtask_index: 51
+- subtask: 'Place the square chewing gun on the table with the right gripper
+
+    '
+  subtask_index: 52
+- subtask: 'Grasp the brown towel with the left gripper
+
+    '
+  subtask_index: 53
+- subtask: 'Place the brown towel  on the table with the left gripper
+
+    '
+  subtask_index: 54
+- subtask: 'Grasp the brown towel with the right gripper                                                        mangosteen
+
+    '
+  subtask_index: 55
+- subtask: 'Grasp the blue bowl with the right gripper
+
+    '
+  subtask_index: 56
+- subtask: Place the teapot on the table with the left gripper
+  subtask_index: 57
+- subtask: 'Grasp the blue cup with the left gripper
+
+    '
+  subtask_index: 58
+- subtask: Grasp the teacup with the right gripper
+  subtask_index: 59
+- subtask: Grasp the square chewing gun with the right gripper
+  subtask_index: 60
+- subtask: Grasp the teapot with the right gripper
+  subtask_index: 61
+- subtask: Place the pink towel on the table with the left gripper
+  subtask_index: 62
+- subtask: Grasp the blue bowl with the left gripper
+  subtask_index: 63
+- subtask: Place the waffle on the table with the right gripper
+  subtask_index: 64
+- subtask: Place the pen container on the table with the right gripper
+  subtask_index: 65
+- subtask: Place the mangosteen on the table with the right gripper
+  subtask_index: 66
+- subtask: 'Grasp the pen container with the left gripper
+
+    '
+  subtask_index: 67
+- subtask: Grasp the eggplant with the right gripper
+  subtask_index: 68
+- subtask: 'Grasp the white blackboard earser with the right gripper   '
+  subtask_index: 69
+- subtask: Grasp the green lemon with the right gripper
+  subtask_index: 70
+- subtask: 'Place the eggplant on the table with the left gripper
+
+    '
+  subtask_index: 71
+- subtask: Grasp the eggplant with the left gripper
+  subtask_index: 72
+- subtask: Place the hard facial cleanser on the table with the left gripper
+  subtask_index: 73
+- subtask: 'Grasp the hard facial cleanser with the right gripper   '
+  subtask_index: 74
+- subtask: 'Grasp the mangosteen with the left gripper
+
+    '
+  subtask_index: 75
+- subtask: 'Place the mangosteen on the table with the right gripper
+
+    '
+  subtask_index: 76
+- subtask: End
+  subtask_index: 77
+- subtask: 'Grasp the wallfe with the right gripper  '
+  subtask_index: 78
+- subtask: Grasp the white blackboard erasure with the right gripper
+  subtask_index: 79
+- subtask: Grasp the blue blackboard erasure with the left gripper
+  subtask_index: 80
+- subtask: 'Grasp the white blackboard earser  with the right gripper
+
+    '
+  subtask_index: 81
+- subtask: 'Place the orange on the table with the left gripper
+
+    '
+  subtask_index: 82
+- subtask: Place the fruit candy on the table with the right gripper
+  subtask_index: 83
+- subtask: 'Grasp the brown towel with the right gripper
+
+    '
+  subtask_index: 84
+- subtask: 'Grasp the orange with the left gripper
+
+    '
+  subtask_index: 85
+- subtask: 'Place the compass on the table with the right gripper
+
+    '
+  subtask_index: 86
+- subtask: 'Grasp the tea cup with the left gripper
+
+    '
+  subtask_index: 87
+- subtask: 'Place the hard facial cleanser on the table with the left gripper
+
+    '
+  subtask_index: 88
+- subtask: 'Place the brown towel on the table with the right gripper
+
+    '
+  subtask_index: 89
+- subtask: 'Grasp the eggplant with the left gripper
+
+    '
+  subtask_index: 90
+- subtask: Place the pen container on the table with the left gripper
+  subtask_index: 91
+- subtask: 'Grasp the white blackboard earser with the right gripper
+
+    '
+  subtask_index: 92
+- subtask: 'Grasp the square chewing gun  with the right gripper    '
+  subtask_index: 93
+- subtask: 'Place the cyan cup  on the table with the left gripper
+
+    '
+  subtask_index: 94
+- subtask: Grasp the waffle with the right gripper
+  subtask_index: 95
+- subtask: Grasp the blue bowl with the right gripper
+  subtask_index: 96
+- subtask: 'Grasp the square chewing gun with the right gripper  '
+  subtask_index: 97
+- subtask: 'Place the waffle on the table with the right gripper
+
+    '
+  subtask_index: 98
+- subtask: 'Grasp the blue bowl with the right gripper   '
+  subtask_index: 99
+- subtask: Abnormal
+  subtask_index: 100
+- subtask: 'Grasp the white blackboard earser with the right gripper                                                        mangosteen
+
+    '
+  subtask_index: 101
+- subtask: "Grasp the blue towel  with the right gripper                         \
+    \                          \n"
+  subtask_index: 102
+- subtask: 'Grasp the  brown towel with the right gripper
+
+    '
+  subtask_index: 103
+- subtask: 'Place the pen container on the table with the right gripper
+
+    '
+  subtask_index: 104
+- subtask: Place the square chewing gum on the table with the right gripper
+  subtask_index: 105
+- subtask: 'Place the green lemon on the table with the right gripper
+
+    '
+  subtask_index: 106
+- subtask: 'Place the  chocolate on the table with the right gripper
+
+    '
+  subtask_index: 107
+- subtask: 'Grasp the square facial square with the right gripper  '
+  subtask_index: 108
+- subtask: 'Grasp the teapot with the left gripper
+
+    '
+  subtask_index: 109
+- subtask: 'Place the pen container on the table with the left gripper
+
+    '
+  subtask_index: 110
+- subtask: 'Place the hard facial earser on the table with the right gripper
+
+    '
+  subtask_index: 111
+- subtask: Place the teacup on the table with the left gripper
+  subtask_index: 112
+- subtask: 'Place the sqaure chewing gun  on the table with the right gripper
+
+    '
+  subtask_index: 113
+- subtask: 'Place the blue cup on the table with the left gripper
+
+    '
+  subtask_index: 114
+- subtask: Place the blue blackboard erasure on the table with the left gripper
+  subtask_index: 115
+- subtask: 'Grasp the wallfe with the right gripper '
+  subtask_index: 116
+- subtask: Grasp the cyan cup with the right gripper
+  subtask_index: 117
+- subtask: Grasp the pink towel with the left gripper
+  subtask_index: 118
+- subtask: Grasp the mangosteen with the right gripper
+  subtask_index: 119
+- subtask: 'Place the cyan cup on the table with the left gripper
+
+    '
+  subtask_index: 120
+- subtask: 'Place the  wallfe on the table with the right gripper
+
+    '
+  subtask_index: 121
+- subtask: 'Grasp the square chewing gun with the left gripper
+
+    '
+  subtask_index: 122
+- subtask: 'Grasp the blue bowel with the right gripper '
+  subtask_index: 123
+- subtask: Grasp the orange with the left gripper
+  subtask_index: 124
+- subtask: 'Place the sqaure chewing gun on the table with the right gripper
+
+    '
+  subtask_index: 125
+- subtask: 'Grasp the sqaure chewing gun with the right gripper
+
+    '
+  subtask_index: 126
+- subtask: Place the orange on the table with the right gripper
+  subtask_index: 127
+- subtask: 'Place the white blackboard earser on the table with the left gripper
+
+    '
+  subtask_index: 128
+- subtask: 'Place the teacup on the table with the left gripper
+
+    '
+  subtask_index: 129
+- subtask: Grasp the  pen container with the right gripper
+  subtask_index: 130
+- subtask: 'Grasp the blue blackboard earser with the left gripper
+
+    '
+  subtask_index: 131
+- subtask: Place the teapot on the table with the right gripper
+  subtask_index: 132
+- subtask: 'Grasp the wallfe with the right gripper    '
+  subtask_index: 133
+- subtask: Place the mangosteen on the table with the left gripper
+  subtask_index: 134
+- subtask: 'Place the square chewing gun on the table with the left gripper
+
+    '
+  subtask_index: 135
+- subtask: Grasp the fruit candy with the right gripper
+  subtask_index: 136
+- subtask: Grasp the square chewing gum with the right gripper
+  subtask_index: 137
+- subtask: 'Grasp the compass with the right gripper
+
+    '
+  subtask_index: 138
+- subtask: 'Place the teapot on the table with the left gripper
+
+    '
+  subtask_index: 139
+- subtask: 'Grasp the cyan cup  with the left gripper
+
+    '
+  subtask_index: 140
+- subtask: Place the teacup on the table with the right gripper
+  subtask_index: 141
+- subtask: 'Grasp the eggplant with the right gripper
+
+    '
+  subtask_index: 142
+- subtask: 'Grasp the pen container with the right gripper                                                        mangosteen
+
+    '
+  subtask_index: 143
+- subtask: 'Grasp the mangosteen with the right gripper   '
+  subtask_index: 144
+- subtask: 'Place the green lemon on the table with the left gripper
+
+    '
+  subtask_index: 145
+- subtask: Place the pen containeron the table with the left gripper
+  subtask_index: 146
+- subtask: Place the white blackboard erasure on the table with the right gripper
+  subtask_index: 147
+- subtask: 'Grasp the hard facial cleanser with the left gripper
+
+    '
+  subtask_index: 148
+- subtask: 'Grasp the whiite blackboard earser with the right gripper
+
+    '
+  subtask_index: 149
+- subtask: 'Grasp the wallfe with the left gripper
+
+    '
+  subtask_index: 150
+- subtask: 'Grasp the wallfe with the right gripper                                                        mangosteen
+
+    '
+  subtask_index: 151
+- subtask: 'Grasp the chocolate with the right gripper  '
+  subtask_index: 152
+- subtask: 'Place the  cyan cup on the table with the left gripper
+
+    '
+  subtask_index: 153
+- subtask: 'Grasp the  cyan cup with the right gripper
+
+    '
+  subtask_index: 154
+- subtask: 'Place the  green lemon on the table with the right gripper
+
+    '
+  subtask_index: 155
+- subtask: Place the chocolate on the table with the left gripper
+  subtask_index: 156
+- subtask: 'Grasp the cyan cup with the right gripper                                                        mangosteen
+
+    '
+  subtask_index: 157
+- subtask: 'Grasp the eggplant with the right gripper   '
+  subtask_index: 158
+- subtask: 'Grasp the white blackboard earser  with the left gripper
+
+    '
+  subtask_index: 159
+- subtask: 'Place the hard facial cleanser on the table with the right gripper
+
+    '
+  subtask_index: 160
+- subtask: 'Place the blue blackboard earser on the table with the left gripper
+
+    '
+  subtask_index: 161
+- subtask: 'Place the eggplant on the table with the right gripper
+
+    '
+  subtask_index: 162
+- subtask: 'Grasp the chocolate with the right gripper
+
+    '
+  subtask_index: 163
+- subtask: Grasp the chocolate with the left gripper
+  subtask_index: 164
+- subtask: Place the orange on the table with the left gripper
+  subtask_index: 165
+- subtask: Grasp the XX with the left gripper
+  subtask_index: 166
+- subtask: Place the  pen container on the table with the left gripper
+  subtask_index: 167
+- subtask: Place the chocolate on the table with the right gripper
+  subtask_index: 168
+- subtask: Place the white blackboard  earser on the table with the left gripper
+  subtask_index: 169
+- subtask: 'Grasp the chocolate with the left gripper
+
+    '
+  subtask_index: 170
+- subtask: Grasp the pen container with the left gripper
+  subtask_index: 171
+- subtask: 'Place the sqaure chewing gun on the table with the left gripper
+
+    '
+  subtask_index: 172
+- subtask: 'Place the tea cup on the table with the left gripper
+
+    '
+  subtask_index: 173
+- subtask: 'Place the chocolate on the table with the right gripper
+
+    '
+  subtask_index: 174
+- subtask: 'Grasp the teacup with the left gripper
+
+    '
+  subtask_index: 175
+- subtask: Place the square chewing gum on the table with the left gripper
+  subtask_index: 176
+- subtask: 'Grasp the brown towel with the right gripper    '
+  subtask_index: 177
+- subtask: Grasp the teapot with the left gripper
+  subtask_index: 178
+- subtask: Grasp the teacup with the left gripper
+  subtask_index: 179
+- subtask: 'Place the chocolate on the table with the left gripper
+
+    '
+  subtask_index: 180
+- subtask: 'Place the cyan cup on the table with the right gripper
+
+    '
+  subtask_index: 181
+- subtask: 'null'
+  subtask_index: 182
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 197
+  total_frames: 85405
+  fps: 30
+  total_tasks: 183
+  total_videos: 591
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 5.33 GB
+frame_num: 85405
+dataset_size: 5.33 GB
+data_structure: 'Agilex_Cobot_Magic_move_object_green_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (185 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:196
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml

@@ -0,0 +1,913 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_move_object_red_tablecloth
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: commercial & convenience
+  level2: supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: red_table_cloths
+  level1: laboratory_supplies
+  level2: red_table_cloths
+  level3: null
+  level4: null
+  level5: null
+- object_name: waffle
+  level1: food
+  level2: waffle
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_lemon
+  level1: food
+  level2: green_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: eggplant
+  level1: food
+  level2: eggplant
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: chocolate
+  level1: food
+  level2: chocolate
+  level3: null
+  level4: null
+  level5: null
+- object_name: mango
+  level1: food
+  level2: mango
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: mint_candy
+  level1: food
+  level2: mint_candy
+  level3: null
+  level4: null
+  level5: null
+- object_name: mangosteen
+  level1: food
+  level2: mangosteen
+  level3: null
+  level4: null
+  level5: null
+- object_name: orange
+  level1: food
+  level2: orange
+  level3: null
+  level4: null
+  level5: null
+- object_name: bread
+  level1: food
+  level2: bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: food
+  level2: banana
+  level3: null
+  level4: Fruit cake
+  level5: null
+- object_name: cake
+  level1: food
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: beef_cheeseburger
+  level1: food
+  level2: beef_cheeseburger
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: pan
+  level1: kitchen_supplies
+  level2: pan
+  level3: null
+  level4: null
+  level5: null
+- object_name: small_teapot
+  level1: kitchen_supplies
+  level2: small_teapot
+  level3: null
+  level4: null
+  level5: null
+- object_name: small_teacup
+  level1: kitchen_supplies
+  level2: small_teacup
+  level3: null
+  level4: null
+  level5: null
+- object_name: paper_ball
+  level1: trash
+  level2: paper_ball
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_square_towel
+  level1: daily_necessities
+  level2: brown_square_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: black_cylindrical_pen_holder
+  level1: stationery
+  level2: black_cylindrical_pen_holder
+  level3: null
+  level4: null
+  level5: null
+- object_name: pink_long_towel
+  level1: daily_necessities
+  level2: pink_long_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: duck
+  level1: toys
+  level2: duck
+  level3: null
+  level4: null
+  level5: null
+- object_name: compass
+  level1: stationery
+  level2: compass
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_long_towel
+  level1: daily_necessities
+  level2: blue_long_towel
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- the gripper move the object.
+sub_tasks:
+- subtask: Grasp the pink towel with the right gripper
+  subtask_index: 0
+- subtask: Place the XX on the table with the left gripper
+  subtask_index: 1
+- subtask: Place the mint candy on the table with the left gripper
+  subtask_index: 2
+- subtask: Place the snickers on the table with the right gripper
+  subtask_index: 3
+- subtask: Grasp the pen container with the right gripper
+  subtask_index: 4
+- subtask: Grasp the grey towel with the left gripper
+  subtask_index: 5
+- subtask: Place the eyeglass case on the table with the left gripper
+  subtask_index: 6
+- subtask: Grasp the white duck with the left gripper
+  subtask_index: 7
+- subtask: Place the eggplant on the table with the right gripper
+  subtask_index: 8
+- subtask: Place the blue bowl on the table with the right gripper
+  subtask_index: 9
+- subtask: Grasp the banana with the left gripper
+  subtask_index: 10
+- subtask: Place the compasses on the table with the right gripper
+  subtask_index: 11
+- subtask: Place the sandwich on the table with the left gripper
+  subtask_index: 12
+- subtask: Place the pink cake on the table with the right gripper
+  subtask_index: 13
+- subtask: Place the banana on the table with the right gripper
+  subtask_index: 14
+- subtask: Grasp the compasses with the right gripper
+  subtask_index: 15
+- subtask: Grasp the orange with the right gripper
+  subtask_index: 16
+- subtask: Grasp the blue cup with the left gripper
+  subtask_index: 17
+- subtask: Place the peach on the table with the right gripper
+  subtask_index: 18
+- subtask: Place the green lemon on the table with the right gripper
+  subtask_index: 19
+- subtask: Grasp the mint candy with the left gripper
+  subtask_index: 20
+- subtask: Grasp the sandwich with the right gripper
+  subtask_index: 21
+- subtask: Grasp the eyeglass case with the left gripper
+  subtask_index: 22
+- subtask: Place the compasses on the table with the left gripper
+  subtask_index: 23
+- subtask: Place the eyeglass case on the table with the right gripper
+  subtask_index: 24
+- subtask: Grasp the square chewing gum with the left gripper
+  subtask_index: 25
+- subtask: Place the brown towel on the table with the left gripper
+  subtask_index: 26
+- subtask: Place the blue bowl on the table with the left gripper
+  subtask_index: 27
+- subtask: Grasp the sandwich biscuit with the right gripper
+  subtask_index: 28
+- subtask: Place the white blackboard erasure on the table with the left gripper
+  subtask_index: 29
+- subtask: Grasp the white blackboard erasure with the left gripper
+  subtask_index: 30
+- subtask: Grasp the snickers with the right gripper
+  subtask_index: 31
+- subtask: Grasp the eyeglass case with the right gripper
+  subtask_index: 32
+- subtask: Place the eggplant on the table with the left gripper
+  subtask_index: 33
+- subtask: Place the mango on the table with the right gripper
+  subtask_index: 34
+- subtask: Place the hard facial cleanser on the table with the right gripper
+  subtask_index: 35
+- subtask: Place the mint candy on the table with the right gripper
+  subtask_index: 36
+- subtask: Grasp the brown towel with the left gripper
+  subtask_index: 37
+- subtask: Grasp the hard facial cleanser with the left gripper
+  subtask_index: 38
+- subtask: Grasp the chocolate with the right gripper
+  subtask_index: 39
+- subtask: Grasp the mangosteen with the left gripper
+  subtask_index: 40
+- subtask: Grasp the peach with the right gripper
+  subtask_index: 41
+- subtask: Grasp the brown towel with the right gripper
+  subtask_index: 42
+- subtask: Grasp the mango with the left gripper
+  subtask_index: 43
+- subtask: Place the snickers on the table with the left gripper
+  subtask_index: 44
+- subtask: Grasp the snickers with the left gripper
+  subtask_index: 45
+- subtask: Grasp the lemon with the left gripper
+  subtask_index: 46
+- subtask: Place the teapot on the table with the left gripper
+  subtask_index: 47
+- subtask: Grasp the hard facial cleanser with the right gripper
+  subtask_index: 48
+- subtask: Grasp the sandwich with the left gripper
+  subtask_index: 49
+- subtask: Place the white duck on the table with the left gripper
+  subtask_index: 50
+- subtask: Place the white duck on the table with the right gripper
+  subtask_index: 51
+- subtask: Grasp the teapot with the right gripper
+  subtask_index: 52
+- subtask: Place the pink towel on the table with the left gripper
+  subtask_index: 53
+- subtask: Grasp the hollow ring bread with the right gripper
+  subtask_index: 54
+- subtask: 'Grasp the hollow ring bread with the right gripper
+
+    '
+  subtask_index: 55
+- subtask: Grasp the blue bowl with the left gripper
+  subtask_index: 56
+- subtask: Place the waffle on the table with the right gripper
+  subtask_index: 57
+- subtask: Place the pen container on the table with the right gripper
+  subtask_index: 58
+- subtask: Place the mangosteen on the table with the right gripper
+  subtask_index: 59
+- subtask: Grasp the eggplant with the right gripper
+  subtask_index: 60
+- subtask: Grasp the pink cake with the left gripper
+  subtask_index: 61
+- subtask: Grasp the gray towel with the right gripper
+  subtask_index: 62
+- subtask: Place the pink towel on the table with the right gripper
+  subtask_index: 63
+- subtask: Grasp the green lemon with the right gripper
+  subtask_index: 64
+- subtask: Place the green lemon on the table with the left gripper
+  subtask_index: 65
+- subtask: Grasp the eggplant with the left gripper
+  subtask_index: 66
+- subtask: Place the hard facial cleanser on the table with the left gripper
+  subtask_index: 67
+- subtask: Place the lemon on the table with the left gripper
+  subtask_index: 68
+- subtask: End
+  subtask_index: 69
+- subtask: Grasp the white duck with the right gripper
+  subtask_index: 70
+- subtask: Grasp the white blackboard erasure with the right gripper
+  subtask_index: 71
+- subtask: Grasp the blue blackboard erasure with the left gripper
+  subtask_index: 72
+- subtask: Place the sandwich biscuit on the table with the right gripper
+  subtask_index: 73
+- subtask: Place the sandwich on the table with the right gripper
+  subtask_index: 74
+- subtask: Place the fruit candy on the table with the right gripper
+  subtask_index: 75
+- subtask: Place the gray towel on the table with the right gripper
+  subtask_index: 76
+- subtask: Place the blue cup on the table with the right gripper
+  subtask_index: 77
+- subtask: Place the pen container on the table with the left gripper
+  subtask_index: 78
+- subtask: Grasp the compasses with the left gripper
+  subtask_index: 79
+- subtask: Grasp the waffle with the right gripper
+  subtask_index: 80
+- subtask: Grasp the blue bowl with the right gripper
+  subtask_index: 81
+- subtask: Place the pink cake on the table with the left gripper
+  subtask_index: 82
+- subtask: Abnormal
+  subtask_index: 83
+- subtask: Place the square chewing gum on the table with the right gripper
+  subtask_index: 84
+- subtask: Place the blue blackboard erasure on the table with the left gripper
+  subtask_index: 85
+- subtask: Grasp the pink towel with the left gripper
+  subtask_index: 86
+- subtask: Grasp the mangosteen with the right gripper
+  subtask_index: 87
+- subtask: Place the grey towel on the table with the left gripper
+  subtask_index: 88
+- subtask: Grasp the orange with the left gripper
+  subtask_index: 89
+- subtask: Place the hollow ring bread on the table with the right gripper
+  subtask_index: 90
+- subtask: Place the blue cup on the table with the left gripper
+  subtask_index: 91
+- subtask: Place the orange on the table with the right gripper
+  subtask_index: 92
+- subtask: Place the teapot on the table with the right gripper
+  subtask_index: 93
+- subtask: Place the mangosteen on the table with the left gripper
+  subtask_index: 94
+- subtask: Grasp the fruit candy with the right gripper
+  subtask_index: 95
+- subtask: Grasp the square chewing gum with the right gripper
+  subtask_index: 96
+- subtask: Place the white blackboard erasure on the table with the right gripper
+  subtask_index: 97
+- subtask: Grasp the pink cake with the right gripper
+  subtask_index: 98
+- subtask: Place the mango on the table with the left gripper
+  subtask_index: 99
+- subtask: Place the chocolate on the table with the left gripper
+  subtask_index: 100
+- subtask: 'Place the hollow ring bread on the table with the right gripper
+
+    '
+  subtask_index: 101
+- subtask: Grasp the blue blackboard erasure with the right gripper
+  subtask_index: 102
+- subtask: Place the banana on the table with the left gripper
+  subtask_index: 103
+- subtask: 'Place the hard facial cleanser on the table with the right gripper
+
+    '
+  subtask_index: 104
+- subtask: Place the blue blackboard erasure on the table with the right gripper
+  subtask_index: 105
+- subtask: Grasp the chocolate with the left gripper
+  subtask_index: 106
+- subtask: Grasp the mango with the right gripper
+  subtask_index: 107
+- subtask: Place the orange on the table with the left gripper
+  subtask_index: 108
+- subtask: Grasp the XX with the left gripper
+  subtask_index: 109
+- subtask: Place the chocolate on the table with the right gripper
+  subtask_index: 110
+- subtask: Grasp the blue cup with the right gripper
+  subtask_index: 111
+- subtask: Grasp the mint candy with the right gripper
+  subtask_index: 112
+- subtask: Place the brown towel on the table with the right gripper
+  subtask_index: 113
+- subtask: Grasp the pen container with the left gripper
+  subtask_index: 114
+- subtask: Grasp the green lemon with the left gripper
+  subtask_index: 115
+- subtask: Grasp the tea cup with the left gripper
+  subtask_index: 116
+- subtask: Place the tea cup on the table with the left gripper
+  subtask_index: 117
+- subtask: Place the square chewing gum on the table with the left gripper
+  subtask_index: 118
+- subtask: Grasp the teapot with the left gripper
+  subtask_index: 119
+- subtask: Grasp the banana with the right gripper
+  subtask_index: 120
+- subtask: 'null'
+  subtask_index: 121
+atomic_actions:
+- rasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 198
+  total_frames: 100817
+  fps: 30
+  total_tasks: 122
+  total_videos: 594
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 3.23 GB
+frame_num: 100817
+dataset_size: 3.23 GB
+data_structure: 'Agilex_Cobot_Magic_move_object_red_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (186 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:197
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml

@@ -0,0 +1,857 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_storage_object_red_tablecloth
+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: red_table_cloths
+  level1: laboratory_supplies
+  level2: white_table_cloths
+  level3: null
+  level4: null
+  level5: null
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: apple
+  level1: food
+  level2: apple
+  level3: null
+  level4: null
+  level5: null
+- object_name: yellow_lemon
+  level1: food
+  level2: yellow_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: pomegranate
+  level1: food
+  level2: pomegranate
+  level3: null
+  level4: null
+  level5: null
+- object_name: bread_dough
+  level1: food
+  level2: bread_dough
+  level3: null
+  level4: null
+  level5: null
+- object_name: waffle
+  level1: food
+  level2: waffle
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_lemon
+  level1: food
+  level2: green_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: eggplant
+  level1: food
+  level2: eggplant
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: chocolate
+  level1: food
+  level2: chocolate
+  level3: null
+  level4: null
+  level5: null
+- object_name: mango
+  level1: food
+  level2: mango
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: mint_candy
+  level1: food
+  level2: mint_candy
+  level3: null
+  level4: null
+  level5: null
+- object_name: mangosteen
+  level1: food
+  level2: mangosteen
+  level3: null
+  level4: null
+  level5: null
+- object_name: orange
+  level1: food
+  level2: orange
+  level3: null
+  level4: null
+  level5: null
+- object_name: bread
+  level1: food
+  level2: bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: food
+  level2: banana
+  level3: null
+  level4: Fruit cake
+  level5: null
+- object_name: cake
+  level1: food
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: beef_cheeseburger
+  level1: food
+  level2: beef_cheeseburger
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: pan
+  level1: kitchen_supplies
+  level2: pan
+  level3: null
+  level4: null
+  level5: null
+- object_name: small_teapot
+  level1: kitchen_supplies
+  level2: small_teapot
+  level3: null
+  level4: null
+  level5: null
+- object_name: small_teacup
+  level1: kitchen_supplies
+  level2: small_teacup
+  level3: null
+  level4: null
+  level5: null
+- object_name: paper_ball
+  level1: trash
+  level2: paper_ball
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_square_towel
+  level1: daily_necessities
+  level2: brown_square_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: black_cylindrical_pen_holder
+  level1: stationery
+  level2: black_cylindrical_pen_holder
+  level3: null
+  level4: null
+  level5: null
+- object_name: pink_long_towel
+  level1: daily_necessities
+  level2: pink_long_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: duck
+  level1: toys
+  level2: duck
+  level3: null
+  level4: null
+  level5: null
+- object_name: compass
+  level1: stationery
+  level2: compass
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_long_towel
+  level1: daily_necessities
+  level2: blue_long_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: pearMint candy
+  level1: food
+  level2: pear
+  level3: null
+  level4: null
+  level5: null
+- object_name: mint_candy
+  level1: food
+  level2: mint_candy
+  level3: null
+  level4: null
+  level5: null
+- object_name: triangular_bread
+  level1: food
+  level2: triangular_bread Long Bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: long_bread
+  level1: food
+  level2: long_bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: chinese_cabbage
+  level1: food
+  level2: chinese_cabbage
+  level3: null
+  level4: null
+  level5: null
+- object_name: peach
+  level1: food
+  level2: peach
+  level3: null
+  level4: null
+  level5: null
+- object_name: can
+  level1: food
+  level2: can
+  level3: null
+  level4: null
+  level5: null
+- object_name: bathing_in_flowers
+  level1: daily_necessities
+  level2: bathing_in_flowers
+  level3: null
+  level4: null
+  level5: null
+- object_name: wok
+  level1: kitchen_supplies
+  level2: wok
+  level3: null
+  level4: null
+  level5: null
+- object_name: red_bull_canned_drink
+  level1: beverages
+  level2: wok
+  level3: null
+  level4: null
+  level5: null
+- object_name: eyeglass_case
+  level1: laboratory_supplies
+  level2: eyeglass_case
+  level3: null
+  level4: null
+  level5: null
+- object_name: coke (Slim Can)
+  level1: beverages
+  level2: coke (Slim Can)
+  level3: null
+  level4: null
+  level5: null
+- object_name: wahaha_AD_calcium
+  level1: beverages
+  level2: wahaha_AD_calcium
+  level3: null
+  level4: null
+  level5: null
+- object_name: brave_the_world_beer
+  level1: beverages
+  level2: brave_the_world_beer
+  level3: null
+  level4: null
+  level5: null
+- object_name: brave_the_world_beer
+  level1: beverages
+  level2: brave_the_world_beer
+  level3: null
+  level4: null
+  level5: null
+- object_name: shampoo
+  level1: daily_necessities
+  level2: shampoo
+  level3: null
+  level4: null
+  level5: null
+- object_name: cleanser
+  level1: daily_necessities
+  level2: cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: sausage
+  level1: food
+  level2: sausage
+  level3: null
+  level4: null
+  level5: null
+- object_name: french_fries
+  level1: food
+  level2: french_fries
+  level3: null
+  level4: null
+  level5: null
+- object_name: purple_trash_bag
+  level1: trash
+  level2: purple_trash_bag
+  level3: null
+  level4: null
+  level5: null
+- object_name: red_date
+  level1: food
+  level2: red_date
+  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 an item with a gripper and place it in a random container on the desktop.
+sub_tasks:
+- subtask: Place the XX into the blue bowl with the left gripper
+  subtask_index: 0
+- subtask: Place the XX into the purple pot with the right gripper
+  subtask_index: 1
+- subtask: Place the XX into the pink pot with the right gripper
+  subtask_index: 2
+- subtask: Grasp the XX with the right gripper
+  subtask_index: 3
+- subtask: Place the XX into the purple pot with the left gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: Place the XX into the pink pot with the left gripper
+  subtask_index: 6
+- subtask: Place the XX into the cyan plate with the right gripper
+  subtask_index: 7
+- subtask: Place the XX into the cyan plate with the left gripper
+  subtask_index: 8
+- subtask: Place the XX into the red pot with the left gripper
+  subtask_index: 9
+- subtask: Place the XX into the pen container with the right gripper
+  subtask_index: 10
+- subtask: Grasp the XX with the left gripper
+  subtask_index: 11
+- subtask: Place the XX into the blue bowl with the right gripper
+  subtask_index: 12
+- subtask: Place the XX into the pink bowl with the left gripper
+  subtask_index: 13
+- subtask: Place the XX into the red pot with the right gripper
+  subtask_index: 14
+- subtask: Place the XX into the pink bowl with the right gripper
+  subtask_index: 15
+- subtask: Place the XX into the white plate with the left gripper
+  subtask_index: 16
+- subtask: Place the XX into the white plate with the right gripper
+  subtask_index: 17
+- subtask: Place the XX into the blue plate with the left gripper
+  subtask_index: 18
+- subtask: Place the XX into the pen container with the left gripper
+  subtask_index: 19
+- subtask: Place the XX into the blue plate with the right gripper
+  subtask_index: 20
+- subtask: 'null'
+  subtask_index: 21
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 200
+  total_frames: 99000
+  fps: 30
+  total_tasks: 22
+  total_videos: 600
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 2.88 GB
+frame_num: 99000
+dataset_size: 2.88 GB
+data_structure: 'Agilex_Cobot_Magic_storage_object_red_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (188 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:199
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml

@@ -0,0 +1,497 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_storage_peach_brown_bag
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_basket
+  level1: home_storage
+  level2: brown_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: brwon_canvas_bags
+  level1: daily_necessities
+  level2: brwon_canvas_bags
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- open the brown linen bag and put the peach in the bag.
+sub_tasks:
+- subtask: Put down the handbag with left grippe
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the peach in the handbag with right gripper
+  subtask_index: 2
+- subtask: Lift the handbag with left gripper
+  subtask_index: 3
+- subtask: Grasp the peach with right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 100
+  total_frames: 49252
+  fps: 30
+  total_tasks: 6
+  total_videos: 300
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 568.64 MB
+frame_num: 49252
+dataset_size: 568.64 MB
+data_structure: 'Agilex_Cobot_Magic_storage_peach_brown_bag_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (88 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:99
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_close_door_left.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_left
+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 left hand.
+sub_tasks:
+- subtask: Touch the door with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Close the cupboard door with the left 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: 50
+  total_frames: 5322
+  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: 161.77 MB
+frame_num: 5322
+dataset_size: 161.77 MB
+data_structure: "Airbot_MMK2_close_door_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|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_cut_scallion.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_cut_scallion
+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: kitchen_knife
+  level1: kitchen_supplies
+  level2: kitchen_knife
+  level3: null
+  level4: null
+  level5: null
+- object_name: garlic
+  level1: vegetables
+  level2: garlic
+  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 kitchen knife with your hand and cut the vegetables.
+sub_tasks:
+- subtask: Grasp the kitchen knife with the right gripper
+  subtask_index: 0
+- subtask: Place the kitchen knife back on the knife holder with the right gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Cut scallions with the right gripper
+  subtask_index: 3
+- subtask: Press the scallion with the left gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+- cut
+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: 97
+  total_frames: 33460
+  fps: 30
+  total_tasks: 6
+  total_videos: 388
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 1.17 GB
+frame_num: 33460
+dataset_size: 1.17 GB
+data_structure: "Airbot_MMK2_cut_scallion_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_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\
+  |       `-- ... (85 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: 0:96
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_doodled_line.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_doodled_line
+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: ballpoint_pen
+  level1: stationery
+  level2: ballpoint_pen
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- Pick up the ballpoint pen and leave your handwriting on the paper.
+sub_tasks:
+- subtask: Close the pen switch with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Lift the pen with the right gripper
+  subtask_index: 2
+- subtask: Grasp the pen with the right gripper
+  subtask_index: 3
+- subtask: Place the pen on the table with the right gripper
+  subtask_index: 4
+- subtask: Write on paper with a pen with right gripper
+  subtask_index: 5
+- subtask: Open the pen switch with the right gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+- pressbutton
+- write
+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: 99
+  total_frames: 57693
+  fps: 30
+  total_tasks: 8
+  total_videos: 396
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 2.09 GB
+frame_num: 57693
+dataset_size: 2.09 GB
+data_structure: "Airbot_MMK2_doodled_line_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_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\
+  |       `-- ... (87 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: 0:98
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_block_twice.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_move_block_twice
+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: rubik's_cube
+  level1: toys
+  level2: rubik's_cube
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- place the building blocks on the Rubik's Cube with your left hand and take them
+  down with your right hand.
+sub_tasks:
+- subtask: Grasp the yellow build block with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the yellow build block on the Rubik's Cube with the left gripper
+  subtask_index: 2
+- subtask: Place the yellow build block on the table with the right gripper
+  subtask_index: 3
+- subtask: Grasp the yellow build block 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: 57
+  total_frames: 14643
+  fps: 30
+  total_tasks: 6
+  total_videos: 228
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 666.57 MB
+frame_num: 14643
+dataset_size: 666.57 MB
+data_structure: "Airbot_MMK2_move_block_twice_qced_hardlink/\n|-- annotations\n| \
+  \  |-- eef_acc_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|       `-- ... (45 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: 0:56
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_paper_box.yaml

@@ -0,0 +1,496 @@
+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_paper_box
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_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: paper_box
+  level1: home_storage
+  level2: paper_box
+  level3: null
+  level4: null
+  level5: null
+- object_name: white_lid
+  level1: laboratory_supplies
+  level2: white_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 cardboard box with both hands and place it on the lid.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Place the phone case box on the white lid with the right gripper
+  subtask_index: 1
+- subtask: Grasp the mouse box with the left gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Static
+  subtask_index: 4
+- subtask: Grasp the phone case box with the right gripper
+  subtask_index: 5
+- subtask: Place the mouse box on the white lid 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: 5070
+  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: 190.01 MB
+frame_num: 5070
+dataset_size: 190.01 MB
+data_structure: 'Airbot_MMK2_move_paper_box_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (35 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_rgb
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:46
+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

dataset_info/Airbot_MMK2_organize_plate.yaml

@@ -0,0 +1,436 @@
+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_organize_plate
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitichen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: round_plate
+  level1: kitchen_supplies
+  level2: plates
+  level3: null
+  level4: null
+  level5: null
+- object_name: storage_rack
+  level1: home_storage
+  level2: storage_racks
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use both hands to place the stacked plates on the table onto the shelf.
+sub_tasks:
+- subtask: Press the plate with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the plate into the front mezzanine of the shelf with the right gripper
+  subtask_index: 2
+- subtask: Press the plate and push it to the right with the left gripper
+  subtask_index: 3
+- subtask: Abnormal
+  subtask_index: 4
+- subtask: Place the plate into the middle mezzanine of the shelf with the right gripper
+  subtask_index: 5
+- subtask: Grasp the plate 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: 595
+  total_frames: 338107
+  fps: 30
+  total_tasks: 8
+  total_videos: 2380
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 14.21 GB
+frame_num: 338107
+dataset_size: 14.21 GB
+data_structure: "Airbot_MMK2_organize_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\
+  |       `-- ... (583 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: 0:594
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_stack_cup.yaml

@@ -0,0 +1,426 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_stack_cup
+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: cup
+  level1: kitchen_supplies
+  level2: cup
+  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 cup by hand and stack it on top of another cup.
+sub_tasks:
+- subtask: Place the purple cup on the pink cup with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Grasp the white cup with the right gripper
+  subtask_index: 2
+- subtask: Place the white cup on the purple cup with the right gripper
+  subtask_index: 3
+- subtask: Grasp the purple cup 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: 99
+  total_frames: 67637
+  fps: 30
+  total_tasks: 6
+  total_videos: 396
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 2.37 GB
+frame_num: 67637
+dataset_size: 2.37 GB
+data_structure: "Airbot_MMK2_stack_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\
+  |       `-- ... (87 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: 0:98
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_book.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_storage_book
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_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: bookshelves
+  level1: bookshelves
+  level2: bookshelves
+  level3: null
+  level4: null
+  level5: null
+- object_name: book
+  level1: stationery
+  level2: book
+  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 book with right hand and place it on the bookshelf.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Grasp the book with the right gripper
+  subtask_index: 1
+- subtask: Place the book on the bookshelf with the left gripper
+  subtask_index: 2
+- subtask: Place the book on the bookshelf with the right gripper
+  subtask_index: 3
+- subtask: Push the book to the edge of the table with the right gripper
+  subtask_index: 4
+- subtask: Grasp the book with the left gripper
+  subtask_index: 5
+- subtask: Grasp the third book from the right with the left gripper
+  subtask_index: 6
+- subtask: Abnormal
+  subtask_index: 7
+- subtask: 'null'
+  subtask_index: 8
+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: 237
+  total_frames: 91429
+  fps: 30
+  total_tasks: 9
+  total_videos: 948
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 4.07 GB
+frame_num: 91429
+dataset_size: 4.07 GB
+data_structure: "Airbot_MMK2_storage_book_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
+  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
+  \ |-- gripper_mode_annotation.jsonl\n|   |-- 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\
+  |       `-- ... (225 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: 0:236
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_egg_white_box.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_egg_white_box
+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: egg
+  level1: food
+  level2: eggs
+  level3: null
+  level4: null
+  level5: null
+- object_name: white_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:
+- use hands to pick the egg on the table and place them into the storage box.
+sub_tasks:
+- subtask: Place the egg into the left compartment of the storage box with the left
+    gripper
+  subtask_index: 0
+- subtask: Grasp the egg with the left gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Grasp the egg with the right gripper
+  subtask_index: 3
+- subtask: Abnormal
+  subtask_index: 4
+- subtask: Place the egg into the right compartment of the storage box 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: 43
+  total_frames: 6645
+  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: 173.88 MB
+frame_num: 6645
+dataset_size: 173.88 MB
+data_structure: "Airbot_MMK2_storage_egg_white_box_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- 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

dataset_info/Airbot_MMK2_storage_milk_tissue.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_milk_tissue
+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: milk
+  level1: beverages
+  level2: milk
+  level3: null
+  level4: null
+  level5: null
+- object_name: tissue_paper
+  level1: paper_towels
+  level2: tissue_paper
+  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 left hand and put it in the basket, then pick up the milk
+  with right hand and put it in the basket.
+sub_tasks:
+- subtask: Place the milk on the white basket with the right gripper
+  subtask_index: 0
+- subtask: Place the tissue on the white basket with the left gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Static
+  subtask_index: 3
+- subtask: Grasp the milk  with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: Grasp the tissue 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: 48
+  total_frames: 10048
+  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: 350.34 MB
+frame_num: 10048
+dataset_size: 350.34 MB
+data_structure: "Airbot_MMK2_storage_milk_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|       `-- ... (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

dataset_info/Airbot_MMK2_storage_onion_sweet_potato.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_storage_onion_sweet_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: onion
+  level1: vegetables
+  level2: onion
+  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
+  onion with right hand and put it in the storage box.
+sub_tasks:
+- subtask: Grasp the eggplant with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the sweet potato into the left compartment of the storage box with
+    the left gripper
+  subtask_index: 2
+- subtask: Place the eggplant into the right compartment of the storage box with the
+    right gripper
+  subtask_index: 3
+- subtask: Grasp the sweet potato with the left gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- pinch
+- pick
+- place
+- grasp
+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: 6502
+  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: 173.29 MB
+frame_num: 6502
+dataset_size: 173.29 MB
+data_structure: "Airbot_MMK2_storage_onion_sweet_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|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_unscrew_bottle_cap.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_unscrew_bottle_cap
+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: beverages
+  level1: beverages
+  level2: beverages
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the bottle with left hand and unscrew the cap with right hand.
+sub_tasks:
+- subtask: Grasp the bottle with the left gripper
+  subtask_index: 0
+- subtask: Place the bottle on the table with the left gripper
+  subtask_index: 1
+- subtask: Lift the bottle up with the left gripper
+  subtask_index: 2
+- subtask: Unscrew the bottle cap with the right hand while holding the bottle with
+    the left hand
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+- turn
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 16965
+  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: 632.68 MB
+frame_num: 16965
+dataset_size: 632.68 MB
+data_structure: "Airbot_MMK2_unscrew_bottle_cap_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml

@@ -0,0 +1,555 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Galaxea_R1_Lite_pour_powder_marble_bar_counter
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: househhold
+  level2: itchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: marble_bar_counter
+  level1: furniture
+  level2: marble_bar_counter
+  level3: null
+  level4: null
+  level5: null
+- object_name: plastic_cup
+  level1: cups
+  level2: plastic_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_dish
+  level1: plates
+  level2: green_dish
+  level3: null
+  level4: null
+  level5: null
+- object_name: pink_bowl
+  level1: plastic_bowls
+  level2: pink_bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: powder
+  level1: materials
+  level2: powder
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use a gripper to pick up the cup and pour the powder into a bowl or tray.
+sub_tasks:
+- subtask: Pour the coffee powder into the pink bowl with right gripper
+  subtask_index: 0
+- subtask: Pour the powder into the pink bowl with the right gripper
+  subtask_index: 1
+- subtask: Pick up blue cup filled with milk powder with left gripper
+  subtask_index: 2
+- subtask: Pour the milk powder into the pink bowl with left gripper
+  subtask_index: 3
+- subtask: Place the glass cup down with the right gripper
+  subtask_index: 4
+- subtask: Place blue cup with milk powder on the table with left gripper
+  subtask_index: 5
+- subtask: Pour the powder into the pink bowl with the left gripper
+  subtask_index: 6
+- subtask: Pour the coffee powder into the pink bowl with left gripper
+  subtask_index: 7
+- subtask: Left gripper
+  subtask_index: 8
+- subtask: Pick up blue cup filled with coffee powder with right gripper
+  subtask_index: 9
+- subtask: Pick up blue cup filled with milk powder with right gripper
+  subtask_index: 10
+- subtask: Pick up blue cup filled with coffee powder with left gripper
+  subtask_index: 11
+- subtask: Place blue cup with coffee powder on the table with right gripper
+  subtask_index: 12
+- subtask: Pour the powder into the green bowl with the left gripper
+  subtask_index: 13
+- subtask: Pour the coffee powder into the blue basin with right gripper
+  subtask_index: 14
+- subtask: Pour the coffee powder into the blue basin with left gripper
+  subtask_index: 15
+- subtask: Grasp the glass of powder with the right gripper
+  subtask_index: 16
+- subtask: Place the glass cup down with the left gripper
+  subtask_index: 17
+- subtask: Pour the milk powder into the pink bowl with right gripper
+  subtask_index: 18
+- subtask: Pour the powder into the green bowl with the right gripper
+  subtask_index: 19
+- subtask: Pour the milk powder into the blue basin with left gripper
+  subtask_index: 20
+- subtask: Place blue cup with milk powder on the table with right gripper
+  subtask_index: 21
+- subtask: Place blue cup with coffee powder on the table with left gripper
+  subtask_index: 22
+- subtask: Pour the milk powder into the blue basin with right gripper
+  subtask_index: 23
+- subtask: End
+  subtask_index: 24
+- subtask: Grasp the glass of powder with the left gripper
+  subtask_index: 25
+- subtask: Right gripper
+  subtask_index: 26
+- subtask: 'null'
+  subtask_index: 27
+atomic_actions:
+- grasp
+- pick
+- place
+- pour
+robot_name:
+- Galaxea_R1_Lite
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_left_rgb
+- cam_head_right_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 100
+  total_frames: 39829
+  fps: 30
+  total_tasks: 28
+  total_videos: 400
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 1.58 GB
+frame_num: 39829
+dataset_size: 1.58 GB
+data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_powder_marble_bar_counter_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (88 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:99
+features:
+  observation.images.cam_head_left_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_head_right_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

dataset_info/agilex_cobot_magic_pass_object_left_to_right_white_tablecloth.yaml

@@ -0,0 +1,590 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: agilex_cobot_magic_pass_object_left_to_right_white_tablecloth
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: commercial_convenience
+  level2: supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: ambrosial_yogurt
+  level1: food
+  level2: ambrosial_yogurt
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: food
+  level2: banana
+  level3: null
+  level4: null
+  level5: null
+- object_name: long_bread
+  level1: food
+  level2: long_bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: milk
+  level1: food
+  level2: milk
+  level3: null
+  level4: null
+  level5: null
+- object_name: yogurt
+  level1: food
+  level2: yogurt
+  level3: null
+  level4: null
+  level5: null
+- object_name: grape
+  level1: food
+  level2: grape
+  level3: null
+  level4: null
+  level5: null
+- object_name: ham_sausage
+  level1: food
+  level2: ham_sausage
+  level3: null
+  level4: null
+  level5: null
+- object_name: eggplant
+  level1: food
+  level2: eggplant
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: eyeglass_case
+  level1: laboratory_supplies
+  level2: eyeglass_case
+  level3: null
+  level4: null
+  level5: null
+- object_name: rubik's_cube
+  level1: toys
+  level2: rubik's_cube
+  level3: null
+  level4: null
+  level5: null
+- object_name: purple_trash_bag
+  level1: trash
+  level2: purple_trash_bag
+  level3: null
+  level4: null
+  level5: null
+- object_name: cleanser
+  level1: daily_necessities
+  level2: cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: bathing_in_flowers
+  level1: daily_necessities
+  level2: bathing_in_flowers
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: candle
+  level1: daily_necessities
+  level2: candle
+  level3: null
+  level4: null
+  level5: null
+- object_name: white_table_cloths
+  level1: laboratory_supplies
+  level2: white_table_cloths
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use the left gripper to pick up the item and transfer it from the left gripper to
+  the right gripper.
+sub_tasks:
+- subtask: Unlabeled
+  subtask_index: 0
+- subtask: Grasp the Rubik's Cube with the left gripper
+  subtask_index: 1
+- subtask: Pass the Rubik's Cube to the right gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Place the Rubik's Cube on the table with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- lift
+- lower
+- handover
+- takeover
+robot_name:
+- agilex_cobot_magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 96
+  total_frames: 55704
+  fps: 30
+  total_tasks: 6
+  total_videos: 288
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 546.67 MB
+frame_num: 55704
+dataset_size: 546.67 MB
+data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (84 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:95
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

info/data_index.json

@@ -112,9 +112,11 @@
     "Agilex_Cobot_Magic_erase_board",
     "Agilex_Cobot_Magic_erase_board_left",
     "Agilex_Cobot_Magic_erase_board_left_side",
+    "Agilex_Cobot_Magic_erase_board_passing_left_to_right",
     "Agilex_Cobot_Magic_erase_board_passing_right_to_left",
     "Agilex_Cobot_Magic_erase_board_right",
     "Agilex_Cobot_Magic_fold_jeans_shorts_children's",
+    "Agilex_Cobot_Magic_fold_short_sleeve_black",
     "Agilex_Cobot_Magic_fold_shorts_khaki",
     "Agilex_Cobot_Magic_fold_towel",
     "Agilex_Cobot_Magic_fold_towel_blue_tray",
@@ -129,6 +131,8 @@
     "Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth",
     "Agilex_Cobot_Magic_move_object_beige_tablecloth",
     "Agilex_Cobot_Magic_move_object_black_tablecloth",
+    "Agilex_Cobot_Magic_move_object_green_tablecloth",
+    "Agilex_Cobot_Magic_move_object_red_tablecloth",
     "Agilex_Cobot_Magic_move_pencil_sharpener",
     "Agilex_Cobot_Magic_open_drawer_bottom",
     "Agilex_Cobot_Magic_organize_test_tube",
@@ -140,22 +144,28 @@
     "Agilex_Cobot_Magic_storage_object_closest",
     "Agilex_Cobot_Magic_storage_object_closest_apple",
     "Agilex_Cobot_Magic_storage_object_left",
+    "Agilex_Cobot_Magic_storage_object_red_tablecloth",
     "Agilex_Cobot_Magic_storage_orange_basket_left",
     "Agilex_Cobot_Magic_storage_orange_basket_right",
     "Agilex_Cobot_Magic_storage_orange_white_bag",
+    "Agilex_Cobot_Magic_storage_peach_brown_bag",
     "Agilex_Cobot_Magic_storage_peach_left",
     "Agilex_Cobot_Magic_storage_peach_right",
     "Airbot_MMK2_click_pen",
+    "Airbot_MMK2_close_door_left",
     "Airbot_MMK2_close_door_right",
     "Airbot_MMK2_close_doors",
     "Airbot_MMK2_close_drawer",
     "Airbot_MMK2_close_lid",
     "Airbot_MMK2_cover_lid",
+    "Airbot_MMK2_cut_scallion",
     "Airbot_MMK2_dial_number",
+    "Airbot_MMK2_doodled_line",
     "Airbot_MMK2_move_apple_orange_pomegranate",
     "Airbot_MMK2_move_block",
     "Airbot_MMK2_move_block_both_hands",
     "Airbot_MMK2_move_block_gold_bar_models",
+    "Airbot_MMK2_move_block_twice",
     "Airbot_MMK2_move_block_wet_wipes",
     "Airbot_MMK2_move_book_front",
     "Airbot_MMK2_move_book_right_side",
@@ -166,6 +176,7 @@
     "Airbot_MMK2_move_fake_food",
     "Airbot_MMK2_move_medicine_bottle",
     "Airbot_MMK2_move_pan",
+    "Airbot_MMK2_move_paper_box",
     "Airbot_MMK2_move_phone_twice",
     "Airbot_MMK2_move_sword_doll",
     "Airbot_MMK2_move_tennis_racket_ball",
@@ -175,6 +186,7 @@
     "Airbot_MMK2_open_door_right",
     "Airbot_MMK2_open_laptop",
     "Airbot_MMK2_open_lid",
+    "Airbot_MMK2_organize_plate",
     "Airbot_MMK2_pass_paper_box",
     "Airbot_MMK2_pick_up_and_place_tub",
     "Airbot_MMK2_play_guitar",
@@ -195,6 +207,7 @@
     "Airbot_MMK2_stack_block",
     "Airbot_MMK2_stack_bowl",
     "Airbot_MMK2_stack_cubic_block",
+    "Airbot_MMK2_stack_cup",
     "Airbot_MMK2_storage_and_take_cake_plate",
     "Airbot_MMK2_storage_apple_orange",
     "Airbot_MMK2_storage_badminton",
@@ -204,6 +217,7 @@
     "Airbot_MMK2_storage_block_BBs",
     "Airbot_MMK2_storage_block_both_hands",
     "Airbot_MMK2_storage_block_tape_measure",
+    "Airbot_MMK2_storage_book",
     "Airbot_MMK2_storage_bottle_part",
     "Airbot_MMK2_storage_bowl",
     "Airbot_MMK2_storage_bowl_wet_wipes",
@@ -223,6 +237,7 @@
     "Airbot_MMK2_storage_diamond_ring",
     "Airbot_MMK2_storage_egg_bowl",
     "Airbot_MMK2_storage_egg_plate",
+    "Airbot_MMK2_storage_egg_white_box",
     "Airbot_MMK2_storage_egg_yellow_box",
     "Airbot_MMK2_storage_electronics_white_basket",
     "Airbot_MMK2_storage_electronics_yellow_baket",
@@ -232,7 +247,9 @@
     "Airbot_MMK2_storage_ice_cream",
     "Airbot_MMK2_storage_lemon_mango",
     "Airbot_MMK2_storage_mango_pomegranate",
+    "Airbot_MMK2_storage_milk_tissue",
     "Airbot_MMK2_storage_network_cable_paper_box",
+    "Airbot_MMK2_storage_onion_sweet_potato",
     "Airbot_MMK2_storage_paper_box_sponge",
     "Airbot_MMK2_storage_peach_pear",
     "Airbot_MMK2_storage_penguin_doll_tiger_doll",
@@ -277,6 +294,7 @@
     "Airbot_MMK2_take_toy_car",
     "Airbot_MMK2_turn_page",
     "Airbot_MMK2_unplug",
+    "Airbot_MMK2_unscrew_bottle_cap",
     "Cobot_Magic_box_storage_chopsticks",
     "Cobot_Magic_cap_the_pen_a",
     "Cobot_Magic_catch_the_ball",
@@ -410,6 +428,7 @@
     "Galaxea_R1_Lite_mix_red_yellow_right",
     "Galaxea_R1_Lite_move_mouse",
     "Galaxea_R1_Lite_pour_liquid_mrable_bar_counter",
+    "Galaxea_R1_Lite_pour_powder_marble_bar_counter",
     "Galaxea_R1_Lite_pour_solid",
     "Galaxea_R1_Lite_pour_solid_marble_bar_counter",
     "Galaxea_R1_Lite_pour_water",
@@ -566,6 +585,7 @@
     "agilex_cobot_magic_pass_object_left_to_right_black_tablecloth",
     "agilex_cobot_magic_pass_object_left_to_right_green_tablecloth",
     "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth",
+    "agilex_cobot_magic_pass_object_left_to_right_white_tablecloth",
     "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth",
     "agilex_cobot_magic_pass_object_right_to_left_green_tablecloth",
     "agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth",
@@ -631,5 +651,5 @@
     "leju_robot_pass_the_cleaner_d",
     "leju_robot_pass_the_cleaner_e"
   ],
-  "count": 630
+  "count": 650
 }

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