Update RoboCOIN assets

dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml

@@ -1,14 +1,35 @@
-path: Airbot_MMK2_storage_cookie_toy_car
+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_cookie_toy_car
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: Lift the toy car with left gripper and lift the cookies with the right gripper
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
 objects:
 - object_name: table
   level1: furniture
@@ -34,113 +55,398 @@ objects:
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-8388
-dataset_size: 277.6MB
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the toy car with left hand and put it in the basket, then pick up the cookie
+  with right hand and put it in the basket.
+sub_tasks:
+- subtask: Lift the toy car with left gripper and lift the cookies with the right
+    gripper
+  subtask_index: 0
+- subtask: Grasp the toy car with left gripper and grasp the cookies with the right
+    gripper
+  subtask_index: 1
+- subtask: Place the toy car on the pink plate with the left gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Place the cookies on the pink plate with the right gripper
+  subtask_index: 4
+- subtask: Static
+  subtask_index: 5
+- subtask: End
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
 statistics:
   total_episodes: 50
   total_frames: 8388
-  total_tasks: 1
+  fps: 30
+  total_tasks: 8
   total_videos: 200
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: cd07af68-cd83-4eaa-9ad1-c0b0926ab380
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- Lift the toy car with left gripper and lift the cookies with the right gripper
-- Grasp the toy car with left gripper and grasp the cookies with the right gripper
-- Place the toy car on the pink plate with the left gripper
-- Abnormal
-- Place the cookies on the pink plate with the right gripper
-- Static
-- End
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 277.71 MB
+frame_num: 8388
+dataset_size: 277.71 MB
+data_structure: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
 authors:
   contributed_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n├── annotations/\n\
-  │   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│\
-  \   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n\
-  │   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
-structure: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n├── annotations/\n\
-  │   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│\
-  \   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n\
-  │   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_cup.yaml

@@ -1,14 +1,35 @@
-path: Airbot_MMK2_storage_cup
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
 dataset_name: Airbot_MMK2_storage_cup
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: place the cup in the yellow basket use the right gripper
+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: any_cup
   level1: cups
@@ -22,114 +43,400 @@ objects:
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-20190
-dataset_size: 802.0MB
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the two cups in the basin.
+sub_tasks:
+- subtask: place the cup in the yellow basket use the right gripper
+  subtask_index: 0
+- subtask: Grasp the cup  the left gripper
+  subtask_index: 1
+- subtask: Lift the cup the right gripper
+  subtask_index: 2
+- subtask: place the cup in the basin use the left gripper
+  subtask_index: 3
+- subtask: Grasp the cup  the right gripper
+  subtask_index: 4
+- subtask: place the cup in the yellow basket use the left gripper
+  subtask_index: 5
+- subtask: place the cup in the basin use the right gripper
+  subtask_index: 6
+- subtask: Static
+  subtask_index: 7
+- subtask: Lift the cup the left  gripper
+  subtask_index: 8
+- subtask: End
+  subtask_index: 9
+- subtask: 'null'
+  subtask_index: 10
+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: 20190
-  total_tasks: 1
+  fps: 30
+  total_tasks: 11
   total_videos: 396
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: dc43d1ff-f192-4e89-85d8-a8f3705cd872
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- place the cup in the yellow basket use the right gripper
-- Grasp the cup  the left gripper
-- Lift the cup the right gripper
-- place the cup in the basin use the left gripper
-- Grasp the cup  the right gripper
-- place the cup in the yellow basket use the left gripper
-- place the cup in the basin use the right gripper
-- Static
-- Lift the cup the left  gripper
-- End
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 802.42 MB
+frame_num: 20190
+dataset_size: 802.42 MB
+data_structure: "Airbot_MMK2_storage_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
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_storage_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\
-  │   └── (...)\n├── data/\n│   └── chunk-000/\n│       ├── episode_000000.parquet\n\
-  │       ├── episode_000001.parquet\n│       ├── episode_000002.parquet\n│      \
-  \ ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n│       └── (...)\n\
-  ├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n│   ├── info.json\n\
-  │   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n        ├── observation.images.cam_high_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.cam_left_wrist_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.cam_right_wrist_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        └── observation.images.cam_third_view/\n\
-  \            ├── episode_000000.mp4\n            ├── episode_000001.mp4\n      \
-  \      ├── episode_000002.mp4\n            ├── episode_000003.mp4\n            ├──\
-  \ episode_000004.mp4\n            └── (...)"
-structure: "Airbot_MMK2_storage_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\
-  │   └── (...)\n├── data/\n│   └── chunk-000/\n│       ├── episode_000000.parquet\n\
-  │       ├── episode_000001.parquet\n│       ├── episode_000002.parquet\n│      \
-  \ ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n│       └── (...)\n\
-  ├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n│   ├── info.json\n\
-  │   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n        ├── observation.images.cam_high_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.cam_left_wrist_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.cam_right_wrist_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        └── observation.images.cam_third_view/\n\
-  \            ├── episode_000000.mp4\n            ├── episode_000001.mp4\n      \
-  \      ├── episode_000002.mp4\n            ├── episode_000003.mp4\n            ├──\
-  \ episode_000004.mp4\n            └── (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml

@@ -0,0 +1,442 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_cup_rubik's_cube
+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: plate
+  level1: kitchen_supplies
+  level2: plate
+  level3: null
+  level4: null
+  level5: null
+- object_name: cup
+  level1: kitchen_supplies
+  level2: cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: rubik's_cube
+  level1: toys
+  level2: rubik's_cube
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the rubik's Cube into the plate with right hand and place the cup on top of
+  the cube with left hand.
+sub_tasks:
+- subtask: Grasp the paper cup with the left gripper
+  subtask_index: 0
+- subtask: Place the paper cup on the magic cube with the left gripper
+  subtask_index: 1
+- subtask: Place the magic cube on the plate with the right gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Grasp the magic cube with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 47
+  total_frames: 13787
+  fps: 30
+  total_tasks: 7
+  total_videos: 188
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 387.14 MB
+frame_num: 13787
+dataset_size: 387.14 MB
+data_structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (35 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:46
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_egg_bowl.yaml

@@ -1,133 +1,435 @@
-path: Airbot_MMK2_storage_egg_bowl
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
 dataset_name: Airbot_MMK2_storage_egg_bowl
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: Grasp the egg with the left gripper
-objects:
-- object_name: bowl
-  level1: bowl
-  level2: bowl
+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
+  level2: egg
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-11572
-dataset_size: 444.5MB
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: plastic_bowls
+  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 bowl.
+sub_tasks:
+- subtask: Grasp the egg with the left gripper
+  subtask_index: 0
+- subtask: Place the egg into bowl with the right gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Place the egg into bowl with the left gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Grasp the egg 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: 50
   total_frames: 11572
-  total_tasks: 1
+  fps: 30
+  total_tasks: 7
   total_videos: 200
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: 63bd0ac6-e8da-4877-a892-0fcdd1abf2f2
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- Grasp the egg with the left gripper
-- Place the egg into bowl with the right gripper
-- Abnormal
-- Place the egg into bowl with the left gripper
-- End
-- Grasp the egg with the right gripper
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 444.71 MB
+frame_num: 11572
+dataset_size: 444.71 MB
+data_structure: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n|-- annotations\n| \
+  \  |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n| \
+  \  |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
 authors:
   contributed_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n├── annotations/\n│   ├──\
-  \ eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│   ├──\
-  \ eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n│  \
-  \ ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
-structure: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n├── annotations/\n│   ├──\
-  \ eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│   ├──\
-  \ eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n│  \
-  \ ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_egg_plate.yaml

@@ -1,134 +1,437 @@
-path: Airbot_MMK2_storage_egg_plate
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
 dataset_name: Airbot_MMK2_storage_egg_plate
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: Place the egg into the plate with the right gripper
+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
+  level2: egg
   level3: null
   level4: null
   level5: null
 - object_name: white_small_plate
-  level1: plates
-  level2: white_small_plate
+  level1: kitchen_supplies
+  level2: plates
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-7564
-dataset_size: 345.3MB
+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 plate.
+sub_tasks:
+- subtask: Place the egg into the plate with the right gripper
+  subtask_index: 0
+- subtask: Grasp the egg with the left gripper
+  subtask_index: 1
+- subtask: Place the egg into the plate with the left gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Place the cake into the plate with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: Grasp the egg 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: 45
   total_frames: 7564
-  total_tasks: 1
+  fps: 30
+  total_tasks: 8
   total_videos: 180
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: 74d2c5c6-30c7-4ce7-b000-f1e58a75fc97
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- Place the egg into the plate with the right gripper
-- Grasp the egg with the left gripper
-- Place the egg into the plate with the left gripper
-- Abnormal
-- Place the cake into the plate with the right gripper
-- End
-- Grasp the egg with the right gripper
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 345.41 MB
+frame_num: 7564
+dataset_size: 345.41 MB
+data_structure: "Airbot_MMK2_storage_egg_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|       `-- ... (33 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: 0:44
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
 authors:
   contributed_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_storage_egg_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│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
-structure: "Airbot_MMK2_storage_egg_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│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_spoon.yaml

@@ -0,0 +1,432 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_spoon
+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: spoon
+  level1: kitchen_supplies
+  level2: spoon
+  level3: null
+  level4: null
+  level5: null
+- object_name: basin
+  level1: home_storage
+  level2: basin
+  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 spoons on the table by hand and place them into the basin.
+sub_tasks:
+- subtask: Grasp the spoon with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Grasp the spoon with the left gripper
+  subtask_index: 2
+- subtask: Place the spoon into the basin with the right gripper
+  subtask_index: 3
+- subtask: Place the spoon into the basin with the left gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 54
+  total_frames: 15550
+  fps: 30
+  total_tasks: 6
+  total_videos: 216
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 509.63 MB
+frame_num: 15550
+dataset_size: 509.63 MB
+data_structure: "Airbot_MMK2_storage_spoon_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
+  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
+  \ |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n\
+  |-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (42 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
+  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
+  \ observation.images.cam_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:53
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_tools.yaml

@@ -1,14 +1,35 @@
-path: Airbot_MMK2_storage_tools
+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_tools
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: Place the plier into white basket with the left gripper
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: industry
+  level2: factory
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
 objects:
 - object_name: utility_knife
   level1: kitchen_supplies
@@ -28,111 +49,393 @@ objects:
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-7910
-dataset_size: 221.3MB
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the plier and the utility knife on the table by hand and place them into
+  the white tray.
+sub_tasks:
+- subtask: Place the plier into white basket with the left gripper
+  subtask_index: 0
+- subtask: Grasp the plier with the left gripper
+  subtask_index: 1
+- subtask: Static
+  subtask_index: 2
+- subtask: Place the utility knife into white basket  with the right gripper
+  subtask_index: 3
+- subtask: Grasp the utility knife with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
 statistics:
   total_episodes: 49
   total_frames: 7910
-  total_tasks: 1
+  fps: 30
+  total_tasks: 7
   total_videos: 196
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: cd0a7e21-d440-45f4-b396-c9f746fc5dc7
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- Place the plier into white basket with the left gripper
-- Grasp the plier with the left gripper
-- Static
-- Place the utility knife into white basket  with the right gripper
-- Grasp the utility knife with the right gripper
-- End
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 221.53 MB
+frame_num: 7910
+dataset_size: 221.53 MB
+data_structure: "Airbot_MMK2_storage_tools_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
+  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
+  \ |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n\
+  |-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (37 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
+  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
+  \ observation.images.cam_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:48
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
 authors:
   contributed_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_storage_tools_qced_hardlink/\n├── annotations/\n│   ├──\
-  \ eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│   ├──\
-  \ eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n│  \
-  \ ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
-structure: "Airbot_MMK2_storage_tools_qced_hardlink/\n├── annotations/\n│   ├── eef_acc_mag_annotation.jsonl\n\
-  │   ├── eef_direction_annotation.jsonl\n│   ├── eef_velocity_annotation.jsonl\n\
-  │   ├── gripper_activity_annotation.jsonl\n│   ├── gripper_mode_annotation.jsonl\n\
-  │   └── (...)\n├── data/\n│   └── chunk-000/\n│       ├── episode_000000.parquet\n\
-  │       ├── episode_000001.parquet\n│       ├── episode_000002.parquet\n│      \
-  \ ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n│       └── (...)\n\
-  ├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n│   ├── info.json\n\
-  │   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n        ├── observation.images.cam_high_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.cam_left_wrist_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.cam_right_wrist_rgb/\n\
-  \        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n      \
-  \  │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├──\
-  \ episode_000004.mp4\n        │   └── (...)\n        └── observation.images.cam_third_view/\n\
-  \            ├── episode_000000.mp4\n            ├── episode_000001.mp4\n      \
-  \      ├── episode_000002.mp4\n            ├── episode_000003.mp4\n            ├──\
-  \ episode_000004.mp4\n            └── (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml

@@ -1,23 +1,38 @@
-path: Airbot_MMK2_swap_sponge_paper_box_plate
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
 dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: Place the sponge on the table with the left gripper
-objects:
-- object_name: plate
-  level1: kitchen_supplies
-  level2: plate
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
   level3: null
   level4: null
   level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
 - object_name: paper_boxes
-  level1: packaging
+  level1: home_storage
   level2: paper_boxes
   level3: null
   level4: null
@@ -28,113 +43,401 @@ objects:
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-8731
-dataset_size: 272.1MB
+- object_name: plate
+  level1: kitchen_supplies
+  level2: plate
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- take the sponge out of the plate with left hand and put the box in with right hand.
+sub_tasks:
+- subtask: Place the sponge on the table with the left gripper
+  subtask_index: 0
+- subtask: Grasp the mouse box with the right gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Static
+  subtask_index: 3
+- subtask: Place the mouse box  into the plate with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: Grasp the sponge in the plate with the left gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
 statistics:
   total_episodes: 50
   total_frames: 8731
-  total_tasks: 1
+  fps: 30
+  total_tasks: 8
   total_videos: 200
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: 77b2c99f-d75c-4deb-8cbc-b00b48b72d73
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- Place the sponge on the table with the left gripper
-- Grasp the mouse box with the right gripper
-- Abnormal
-- Static
-- Place the mouse box  into the plate with the right gripper
-- End
-- Grasp the sponge in the plate with the left gripper
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 272.24 MB
+frame_num: 8731
+dataset_size: 272.24 MB
+data_structure: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
 authors:
   contributed_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n├── annotations/\n\
-  │   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│\
-  \   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n\
-  │   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
-structure: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n├── annotations/\n\
-  │   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│\
-  \   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n\
-  │   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_take_electronics.yaml

@@ -1,133 +1,435 @@
-path: Airbot_MMK2_take_electronics
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
 dataset_name: Airbot_MMK2_take_electronics
-robot_type: ''
-end_effector_type:
-- five_finger_gripper
-scene_type: []
-atomic_actions:
-- grasp
-- pick
-- place
-tasks: Abnormal
-objects:
-- object_name: lid
-  level1: laboratory_supplies
-  level2: lid
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: industry
+  level2: factory
   level3: null
   level4: null
   level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
 - object_name: paper_boxes
-  level1: packaging
+  level1: baskets
   level2: paper_boxes
   level3: null
   level4: null
   level5: null
-operation_platform_height: 77.2
-frame_range: 0-13465
-dataset_size: 399.8MB
+- object_name: lid
+  level1: storage_utensils
+  level2: lid
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- take the calculator box and mouse box off the lid and place them on the table.
+sub_tasks:
+- subtask: Abnormal
+  subtask_index: 0
+- subtask: Place the mouse box on the table with the left gripper
+  subtask_index: 1
+- subtask: Grasp the calculator box on the white lid and with the right gripper
+  subtask_index: 2
+- subtask: Grasp the mouse box on the white lid and with the left gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Place the calculator box on the table with the right gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
 statistics:
   total_episodes: 49
   total_frames: 13465
-  total_tasks: 1
+  fps: 30
+  total_tasks: 7
   total_videos: 196
   total_chunks: 1
   chunks_size: 1000
-  fps: 30
-dataset_uuid: 2a1f327d-2569-4da5-9161-97377d90dbee
-language:
-- en
-- zh
-task_categories:
-- robotics
-sub_tasks:
-- Abnormal
-- Place the mouse box on the table with the left gripper
-- Grasp the calculator box on the white lid and with the right gripper
-- Grasp the mouse box on the white lid and with the left gripper
-- End
-- Place the calculator box on the table with the right gripper
-- 'null'
-annotations:
-  subtask_annotation: auto_generated
-  scene_annotation: auto_generated
-  eef_direction: auto_generated
-  eef_velocity: auto_generated
-  eef_acc_mag: auto_generated
-  gripper_mode: auto_generated
-  gripper_activity: auto_generated
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 400.20 MB
+frame_num: 13465
+dataset_size: 400.20 MB
+data_structure: "Airbot_MMK2_take_electronics_qced_hardlink/\n|-- annotations\n| \
+  \  |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n| \
+  \  |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (37 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:48
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
 authors:
   contributed_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
-  annotated_by:
-  - name: RoboCOIN
-    url: https://flagopen.github.io/RoboCOIN/
-    affiliation: RoboCOIN Team
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
 homepage: https://flagopen.github.io/RoboCOIN/
 paper: https://arxiv.org/abs/2511.17441
 repository: https://github.com/FlagOpen/RoboCOIN
-license: apache-2.0
-tags:
-- RoboCOIN
-- LeRobot
-citation_bibtex: "@article{robocoin,\n    title={RoboCOIN: An Open-Sourced Bimanual\
-  \ Robotic Data Collection for Integrated Manipulation},\n    author={Shihan Wu,\
-  \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\
-  \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\
-  \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\
-  \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\
-  \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\
-  \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\
-  \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\
-  \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\
-  \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\
-  \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\
-  \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\
-  \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\
-  \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n    journal={arXiv preprint\
-  \ arXiv:2511.17441},\n    url = {https://arxiv.org/abs/2511.17441},\n    year={2025}\n\
-  \    }"
-depth_enabled: false
-data_schema: "Airbot_MMK2_take_electronics_qced_hardlink/\n├── annotations/\n│   ├──\
-  \ eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│   ├──\
-  \ eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n│  \
-  \ ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
-structure: "Airbot_MMK2_take_electronics_qced_hardlink/\n├── annotations/\n│   ├──\
-  \ eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│   ├──\
-  \ eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n│  \
-  \ ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n\
-  │       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│      \
-  \ ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n\
-  │       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n\
-  │   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n      \
-  \  ├── observation.images.cam_high_rgb/\n        │   ├── episode_000000.mp4\n  \
-  \      │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │\
-  \   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        ├── observation.images.cam_right_wrist_rgb/\n        │   ├── episode_000000.mp4\n\
-  \        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n      \
-  \  │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └──\
-  \ (...)\n        └── observation.images.cam_third_view/\n            ├── episode_000000.mp4\n\
-  \            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n      \
-  \      ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └──\
-  \ (...)"
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

info/data_index.json

@@ -137,6 +137,7 @@
     "Airbot_MMK2_storage_cake_ice_cream",
     "Airbot_MMK2_storage_cookie_toy_car",
     "Airbot_MMK2_storage_cup",
+    "Airbot_MMK2_storage_cup_rubik's_cube",
     "Airbot_MMK2_storage_cup_rubik_s_cube",
     "Airbot_MMK2_storage_diamond_ring",
     "Airbot_MMK2_storage_egg_bowl",
@@ -144,6 +145,7 @@
     "Airbot_MMK2_storage_electronics_yellow_baket",
     "Airbot_MMK2_storage_peach_pear",
     "Airbot_MMK2_storage_shark_doll",
+    "Airbot_MMK2_storage_spoon",
     "Airbot_MMK2_storage_tape_measure_umbrella",
     "Airbot_MMK2_storage_tools",
     "Airbot_MMK2_storage_tumbler_umbrella",
@@ -481,5 +483,5 @@
     "leju_robot_pass_the_cleaner_d",
     "leju_robot_pass_the_cleaner_e"
   ],
-  "count": 480
+  "count": 482
 }

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