diff --git "a/info/consolidated_datasets.json" "b/info/consolidated_datasets.json" --- "a/info/consolidated_datasets.json" +++ "b/info/consolidated_datasets.json" @@ -4007,531 +4007,522 @@ "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, "Airbot_MMK2_storage_egg_plate": { - "path": "Airbot_MMK2_storage_egg_plate", - "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", - "objects": [ - { - "object_name": "egg", - "level1": "food", - "level2": "eggs", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "white_small_plate", - "level1": "plates", - "level2": "white_small_plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-7564", - "dataset_size": "345.3MB", - "statistics": { - "total_episodes": 45, - "total_frames": 7564, - "total_tasks": 1, - "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" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Airbot_MMK2_storage_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 └── (...)" - }, - "Cobot_Magic_pour_water_a": { - "path": "Cobot_Magic_pour_water_a", - "dataset_name": "pour_water_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grab the paper cup on the right.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "nongfu_spring_mineral_water", - "level1": "drink", - "level2": "nongfu_spring_mineral_water", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yibao_mineral_water", - "level1": "drink", - "level2": "yibao_mineral_water", - "level3": null, - "level4": null, - "level5": null - }, + "license": "apache-2.0", + "configs": [ { - "object_name": "baisui_mountain_mineral_water", - "level1": "drink", - "level2": "baisui_mountain_mineral_water", - "level3": null, - "level4": null, - "level5": null + "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", + "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": "wahaha_mineral_water", - "level1": "drink", - "level2": "wahaha_mineral_water", + "object_name": "egg", + "level1": "food", + "level2": "egg", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "white_small_plate", + "level1": "kitchen_supplies", + "level2": "plates", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-1302424", - "dataset_size": "13.8GB", - "statistics": { - "total_episodes": 896, - "total_frames": 1302424, - "total_tasks": 8, - "total_videos": 2688, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1cf008f5-6677-4b28-8eae-d7a325544806", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "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": [ - "Grab the paper cup on the right.", - "Lift the paper cup on the right.", - "Pick up the bottle", - "Grab the bottle with right gripper", - "Grab the water bottle on the right.", - "Pour water from bottle to cup with the right gripper", - "Abnormal", - "Place the paper cup with the left gripper", - "Lift the paper cup on the left.", - "Place the bottle", - "Put the cup down with left gripper", - "Grasp the cup with left gripper", - "Grasp the bottle with the left gripper", - "Pour water from bottle to cup with the left gripper", - "Take the water with left gripper", - "End", - "Receive water on the left.", - "Pick up the cup", - "Discard.", - "Collect water on the right.", - "Pour the water with right gripper", - "Pour water from bottle to cup", - "Grab the water bottle on the left.", - "Put the bottle down with right gripper", - "Place the water bottle on the right.", - "Pour water on the left.", - "Grab the paper cup on the left.", - "Place the bottle with the left gripper", - "Place the paper cup with the right gripper", - "Place the bottle with the right gripper", - "Place the paper cup on the right.", - "Receive water on the right.", - "Lift the cup with left gripper", - "Grasp the paper cup with the right gripper", - "Grasp the bottle with the right gripper", - "Grasp the paper cup with the left gripper", - "Pour water on the right.", - "Collect water on the left.", - "Place the cup", - "Place the paper cup on the left.", - "Place the water bottle on the left.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_sponge_and_wet_wipes": { - "path": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes", - "dataset_name": "place_the_sponge_and_wet_wipes", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grasp the sponge with the left gripper", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the egg into the plate with the right gripper", + "subtask_index": 0 }, { - "object_name": "sponge", - "level1": "daily_necessities", - "level2": "sponge", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the egg with the left gripper", + "subtask_index": 1 }, { - "object_name": "wet_wipes", - "level1": "daily_necessities", - "level2": "wet_wipes", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the egg into the plate with the left gripper", + "subtask_index": 2 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 3 }, { - "object_name": "mouse_box", - "level1": "container", - "level2": "mouse_box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the cake into the plate with the right gripper", + "subtask_index": 4 }, { - "object_name": "charging_power_bank_box", - "level1": "container", - "level2": "charging_power_bank_box", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 5 }, { - "object_name": "lid", - "level1": "container", - "level2": "lid", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the egg with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 } ], - "operation_platform_height": 77.2, - "frame_range": "0-10033", - "dataset_size": "390.9MB", - "statistics": { - "total_episodes": 90, - "total_frames": 10033, - "total_tasks": 2, - "total_videos": 360, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ce41bab0-f121-49df-b55f-742a8e05ec09", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the sponge with the left gripper ", - "Place the sponge into the white basket with the left gripper ", - "Grasp the mouse box with the left gripper", - "Place the wet wipes into the white basket with the right gripper", - "Grasp the wet wipes with the right gripper", - "Static", - "End", - "Place the mouse box on the white lid with the left gripper", - "Grasp the phone case box with the right gripper", - "Place the phone case box on the white lid with the right gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_place_the_cube_block": { - "path": "Cobot_Magic_place_the_cube_block", - "dataset_name": "place_the_cube_block", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], "atomic_actions": [ "grasp", "pick", "place" ], - "tasks": "Place it into the yellow plate", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } + "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" ], - "operation_platform_height": 77.2, - "frame_range": "0-12763", - "dataset_size": "222.1MB", "statistics": { - "total_episodes": 58, - "total_frames": 12763, - "total_tasks": 1, - "total_videos": 174, + "total_episodes": 45, + "total_frames": 7564, + "fps": 30, + "total_tasks": 8, + "total_videos": 180, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "345.41 MB" }, - "dataset_uuid": "8f5ebbc9-2983-4035-a6cd-395dcace072d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place it into the yellow plate", - "Grasp the small cube on the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "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": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "G1edu-u3_pick_metal_bowl_aa": { - "path": "G1edu-u3_pick_metal_bowl_aa", - "dataset_name": "pick_metal_bowl_aa", + "Cobot_Magic_pour_water_a": { + "path": "Cobot_Magic_pour_water_a", + "dataset_name": "pour_water_a", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick" ], - "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", + "tasks": "Grab the paper cup on the right.", "objects": [ { "object_name": "table", @@ -4542,27 +4533,59 @@ "level5": null }, { - "object_name": "metal_bowl", - "level1": "bowl", - "level2": "metal_bowl", + "object_name": "nongfu_spring_mineral_water", + "level1": "drink", + "level2": "nongfu_spring_mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yibao_mineral_water", + "level1": "drink", + "level2": "yibao_mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "baisui_mountain_mineral_water", + "level1": "drink", + "level2": "baisui_mountain_mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wahaha_mineral_water", + "level1": "drink", + "level2": "wahaha_mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-15548", - "dataset_size": "221.0MB", + "operation_platform_height": 77.2, + "frame_range": "0-1302424", + "dataset_size": "13.8GB", "statistics": { - "total_episodes": 35, - "total_frames": 15548, - "total_tasks": 1, - "total_videos": 35, + "total_episodes": 896, + "total_frames": 1302424, + "total_tasks": 8, + "total_videos": 2688, "total_chunks": 1, - "chunks_size": 35, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "e1af01c7-7aea-4e21-a205-cadda0c4620b", + "dataset_uuid": "1cf008f5-6677-4b28-8eae-d7a325544806", "language": [ "en", "zh" @@ -4571,10 +4594,47 @@ "robotics" ], "sub_tasks": [ - "Grasp the metal bowl and lift it to the center of the view with left gripper", - "End", - "Grasp the metal bowl and lift it to the center of the view with right gripper", + "Grab the paper cup on the right.", + "Lift the paper cup on the right.", + "Pick up the bottle", + "Grab the bottle with right gripper", + "Grab the water bottle on the right.", + "Pour water from bottle to cup with the right gripper", "Abnormal", + "Place the paper cup with the left gripper", + "Lift the paper cup on the left.", + "Place the bottle", + "Put the cup down with left gripper", + "Grasp the cup with left gripper", + "Grasp the bottle with the left gripper", + "Pour water from bottle to cup with the left gripper", + "Take the water with left gripper", + "End", + "Receive water on the left.", + "Pick up the cup", + "Discard.", + "Collect water on the right.", + "Pour the water with right gripper", + "Pour water from bottle to cup", + "Grab the water bottle on the left.", + "Put the bottle down with right gripper", + "Place the water bottle on the right.", + "Pour water on the left.", + "Grab the paper cup on the left.", + "Place the bottle with the left gripper", + "Place the paper cup with the right gripper", + "Place the bottle with the right gripper", + "Place the paper cup on the right.", + "Receive water on the right.", + "Lift the cup with left gripper", + "Grasp the paper cup with the right gripper", + "Grasp the bottle with the right gripper", + "Grasp the paper cup with the left gripper", + "Pour water on the right.", + "Collect water on the left.", + "Place the cup", + "Place the paper cup on the left.", + "Place the water bottle on the left.", "null" ], "annotations": { @@ -4612,12 +4672,12 @@ ], "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": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_place_the_building_blocks": { - "path": "AIRBOT_MMK2_place_the_building_blocks", - "dataset_name": "place_the_building_blocks", + "AIRBOT_MMK2_place_the_sponge_and_wet_wipes": { + "path": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes", + "dataset_name": "place_the_sponge_and_wet_wipes", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -4625,10 +4685,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "open", - "hold" + "place", + "pick" ], - "tasks": "Abnormal", + "tasks": "Grasp the sponge with the left gripper", "objects": [ { "object_name": "table", @@ -4639,9 +4699,17 @@ "level5": null }, { - "object_name": "building_block", - "level1": "toy", - "level2": "building_block", + "object_name": "sponge", + "level1": "daily_necessities", + "level2": "sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wet_wipes", + "level1": "daily_necessities", + "level2": "wet_wipes", "level3": null, "level4": null, "level5": null @@ -4653,12 +4721,347 @@ "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-14173", - "dataset_size": "455.5MB", - "statistics": { + }, + { + "object_name": "mouse_box", + "level1": "container", + "level2": "mouse_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "charging_power_bank_box", + "level1": "container", + "level2": "charging_power_bank_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "container", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-10033", + "dataset_size": "390.9MB", + "statistics": { + "total_episodes": 90, + "total_frames": 10033, + "total_tasks": 2, + "total_videos": 360, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ce41bab0-f121-49df-b55f-742a8e05ec09", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the sponge with the left gripper ", + "Place the sponge into the white basket with the left gripper ", + "Grasp the mouse box with the left gripper", + "Place the wet wipes into the white basket with the right gripper", + "Grasp the wet wipes with the right gripper", + "Static", + "End", + "Place the mouse box on the white lid with the left gripper", + "Grasp the phone case box with the right gripper", + "Place the phone case box on the white lid with the right gripper", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_place_the_cube_block": { + "path": "Cobot_Magic_place_the_cube_block", + "dataset_name": "place_the_cube_block", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place it into the yellow plate", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-12763", + "dataset_size": "222.1MB", + "statistics": { + "total_episodes": 58, + "total_frames": 12763, + "total_tasks": 1, + "total_videos": 174, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "8f5ebbc9-2983-4035-a6cd-395dcace072d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place it into the yellow plate", + "Grasp the small cube on the table", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├─��� episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" + }, + "G1edu-u3_pick_metal_bowl_aa": { + "path": "G1edu-u3_pick_metal_bowl_aa", + "dataset_name": "pick_metal_bowl_aa", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick" + ], + "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "metal_bowl", + "level1": "bowl", + "level2": "metal_bowl", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-15548", + "dataset_size": "221.0MB", + "statistics": { + "total_episodes": 35, + "total_frames": 15548, + "total_tasks": 1, + "total_videos": 35, + "total_chunks": 1, + "chunks_size": 35, + "fps": 30 + }, + "dataset_uuid": "e1af01c7-7aea-4e21-a205-cadda0c4620b", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the metal bowl and lift it to the center of the view with left gripper", + "End", + "Grasp the metal bowl and lift it to the center of the view with right gripper", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_place_the_building_blocks": { + "path": "AIRBOT_MMK2_place_the_building_blocks", + "dataset_name": "place_the_building_blocks", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "open", + "hold" + ], + "tasks": "Abnormal", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_block", + "level1": "toy", + "level2": "building_block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-14173", + "dataset_size": "455.5MB", + "statistics": { "total_episodes": 43, "total_frames": 14173, "total_tasks": 1, @@ -17686,110 +18089,7 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "G1edu-u3_tray_storage_lemon_a": { - "path": "G1edu-u3_tray_storage_lemon_a", - "dataset_name": "tray_storage_lemon_a", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "pick", - "place" - ], - "tasks": "Place the lemon on the blue plate with left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tray", - "level1": "container", - "level2": "tray", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lemon", - "level1": "fruits", - "level2": "lemon", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-2298", - "dataset_size": "27.2MB", - "statistics": { - "total_episodes": 13, - "total_frames": 2298, - "total_tasks": 1, - "total_videos": 13, - "total_chunks": 1, - "chunks_size": 13, - "fps": 30 - }, - "dataset_uuid": "50af80c8-eb74-4dec-9689-8bea0af5a8c2", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the lemon on the blue plate with left gripper", - "Place the lemon on the blue plate with 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" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth": { + "Airbot_MMK2_storage_cup_rubik's_cube": { "task_categories": [ "robotics" ], @@ -17819,11 +18119,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth", + "dataset_name": "Airbot_MMK2_storage_cup_rubik's_cube", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", + "level1": "household", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -17831,89 +18131,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ambrosial_yogurt", - "level1": "food", - "level2": "ambrosial_yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "food", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "food", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "food", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "grape", - "level1": "food", - "level2": "grape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ham_sausage", - "level1": "food", - "level2": "ham_sausage", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eggplant", - "level1": "food", - "level2": "eggplant", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chewing_gum", - "level1": "food", - "level2": "chewing_gum", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "eyeglass_case", - "level1": "laboratory_supplies", - "level2": "eyeglass_case", + "object_name": "cup", + "level1": "kitchen_supplies", + "level2": "cup", "level3": null, "level4": null, "level5": null @@ -17925,217 +18153,69 @@ "level3": null, "level4": null, "level5": null - }, - { - "object_name": "purple_trash_bag", - "level1": "trash", - "level2": "purple_trash_bag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cleanser", - "level1": "daily_necessities", - "level2": "cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bathing_in_flowers", - "level1": "daily_necessities", - "level2": "bathing_in_flowers", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "whiteboard_eraser", - "level1": "stationery", - "level2": "whiteboard_eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "candle", - "level1": "daily_necessities", - "level2": "candle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "black_table_cloths", - "level1": "laboratory_supplies", - "level2": "black_table_cloths", - "level3": null, - "level4": null, - "level5": null } ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "use the right gripper to pick up the item and transfer it from the right gripper to the left gripper." + "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": "The left gripper places milk on the left side of the table", + "subtask": "Grasp the paper cup with the left gripper", "subtask_index": 0 }, { - "subtask": "The left gripper places bread on the left side of the table", + "subtask": "Place the paper cup on the magic cube with the left gripper", "subtask_index": 1 }, { - "subtask": "Pass the bread to the left gripper", + "subtask": "Place the magic cube on the plate with the right gripper", "subtask_index": 2 }, { - "subtask": "Pass the shower sphere to the left gripper", + "subtask": "Abnormal", "subtask_index": 3 }, { - "subtask": "Use the right gripper to grab the bread on the right side of the table", + "subtask": "Grasp the magic cube with the right gripper", "subtask_index": 4 }, - { - "subtask": "Use the right gripper to grab the grape on the right side of the table", - "subtask_index": 5 - }, { "subtask": "End", - "subtask_index": 6 - }, - { - "subtask": "Use the right gripper to grab the banana on the right side of the table", - "subtask_index": 7 - }, - { - "subtask": "Pass the purple garbage bag to the left gripper", - "subtask_index": 8 - }, - { - "subtask": "Pass the Rubik's Cube to the left gripper", - "subtask_index": 9 - }, - { - "subtask": "The left gripper places yogurt on the left side of the table", - "subtask_index": 10 - }, - { - "subtask": "The left gripper places shower sphere on the left side of the table", - "subtask_index": 11 - }, - { - "subtask": "Use the right gripper to grab the shower sphere on the right side of the table", - "subtask_index": 12 - }, - { - "subtask": "Use the right gripper to grab the grapes on the right side of the table", - "subtask_index": 13 - }, - { - "subtask": "Pass the yogurt to the left gripper", - "subtask_index": 14 - }, - { - "subtask": "The left gripper places grape on the left side of the table", - "subtask_index": 15 - }, - { - "subtask": "The left gripper places grapes on the left side of the table", - "subtask_index": 16 - }, - { - "subtask": "Use the right gripper to grab the milk on the right side of the table", - "subtask_index": 17 - }, - { - "subtask": "Pass the milk to the left gripper", - "subtask_index": 18 - }, - { - "subtask": "The left gripper places banana on the left side of the table", - "subtask_index": 19 - }, - { - "subtask": "Use the right gripper to grab the eyeglass case on the right side of the table", - "subtask_index": 20 - }, - { - "subtask": "Pass the banana to the left gripper", - "subtask_index": 21 - }, - { - "subtask": "Pass the grapes to the left gripper", - "subtask_index": 22 - }, - { - "subtask": "Use the right gripper to grab the purple garbage bag on the right side of the table", - "subtask_index": 23 - }, - { - "subtask": "Pass the grape to the left gripper", - "subtask_index": 24 - }, - { - "subtask": "The left gripper places eyeglass case on the left side of the table", - "subtask_index": 25 - }, - { - "subtask": "Pass the eyeglass case to the left gripper", - "subtask_index": 26 - }, - { - "subtask": "Use the right gripper to grab the yogurt on the right side of the table", - "subtask_index": 27 - }, - { - "subtask": "Use the right gripper to grab the Rubik's Cube on the right side of the table", - "subtask_index": 28 - }, - { - "subtask": "\nPass the milk to the left gripper\n", - "subtask_index": 29 - }, - { - "subtask": "The left gripper places purple garbage bag on the left side of the table", - "subtask_index": 30 + "subtask_index": 5 }, { "subtask": "null", - "subtask_index": 31 + "subtask_index": 6 } ], "atomic_actions": [ "grasp", - "lift", - "lower", - "handover", - "takeover" + "pick", + "place" ], "robot_name": [ - "agilex_cobot_magic" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "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_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_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": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -18146,23 +18226,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 93, - "total_frames": 59541, + "total_episodes": 47, + "total_frames": 13787, "fps": 30, - "total_tasks": 32, - "total_videos": 279, + "total_tasks": 7, + "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "1.15 GB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "387.14 MB" }, - "frame_num": 59541, - "dataset_size": "1.15 GB", - "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "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": "0:92" + "train": "0:46" }, "features": { "observation.images.cam_head_rgb": { @@ -18234,10 +18314,33 @@ "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": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -18246,32 +18349,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "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": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -18280,26 +18393,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "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": { @@ -18339,17 +18462,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -18366,10 +18489,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -18386,130 +18509,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", "shape": [ 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -18531,107 +18594,9 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" - }, - "AIRBOT_MMK2_clean_the_desktop": { - "path": "AIRBOT_MMK2_clean_the_desktop", - "dataset_name": "clean_the_desktop", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "calculator_box", - "level1": "tools", - "level2": "umbrella", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-8709", - "dataset_size": "327.5MB", - "statistics": { - "total_episodes": 49, - "total_frames": 8709, - "total_tasks": 1, - "total_videos": 196, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d999", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grasp the tissue with the right gripper", - "Place the umbrella on the white lid with the left gripper", - "Place the tissue on the white lid with the right gripper", - "Grasp the umbrella with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Airbot_MMK2_storage_bottle_part": { + "Airbot_MMK2_storage_spoon": { "task_categories": [ "robotics" ], @@ -18661,11 +18626,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_bottle_part", + "dataset_name": "Airbot_MMK2_storage_spoon", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -18673,25 +18638,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "water_bottle", - "level1": "beverages", - "level2": "water_bottle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "handle", - "level1": "laboratory_supplies", - "level2": "handle", + "object_name": "spoon", + "level1": "kitchen_supplies", + "level2": "spoon", "level3": null, "level4": null, "level5": null }, { - "object_name": "carton", - "level1": "laboratory_supplies", - "level2": "carton", + "object_name": "basin", + "level1": "home_storage", + "level2": "basin", "level3": null, "level4": null, "level5": null @@ -18699,48 +18656,32 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "put the water bottle and handle into the cardboard box." + "pick up the spoons on the table by hand and place them into the basin." ], "sub_tasks": [ { - "subtask": "Grasp the water bottle with the right gripper", + "subtask": "Grasp the spoon with the right gripper", "subtask_index": 0 }, { - "subtask": "Place the water bottle into the cardboard box with the right gripper", + "subtask": "End", "subtask_index": 1 }, { - "subtask": "Lift the water bottle with the right gripper", + "subtask": "Grasp the spoon with the left gripper", "subtask_index": 2 }, { - "subtask": "Lift the remote control clip with the left gripper ", + "subtask": "Place the spoon into the basin with the right gripper", "subtask_index": 3 }, { - "subtask": "Abnormal", + "subtask": "Place the spoon into the basin with the left gripper", "subtask_index": 4 }, - { - "subtask": "Static", - "subtask_index": 5 - }, - { - "subtask": "Place the remote control clip into the cardboard box with the left gripper", - "subtask_index": 6 - }, - { - "subtask": "End", - "subtask_index": 7 - }, - { - "subtask": "Grasp the remote control clip with the left gripper ", - "subtask_index": 8 - }, { "subtask": "null", - "subtask_index": 9 + "subtask_index": 5 } ], "atomic_actions": [ @@ -18780,23 +18721,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 49, - "total_frames": 10499, + "total_episodes": 54, + "total_frames": 15550, "fps": 30, - "total_tasks": 10, - "total_videos": 196, + "total_tasks": 6, + "total_videos": 216, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "508.16 MB" + "dataset_size": "509.63 MB" }, - "frame_num": 10499, - "dataset_size": "508.16 MB", - "data_structure": "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 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": "0:48" + "train": "0:53" }, "features": { "observation.images.cam_head_rgb": { @@ -19150,20 +19091,19 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_mobile_calculator_box": { - "path": "AIRBOT_MMK2_mobile_calculator_box", - "dataset_name": "mobile_calculator_box", + "G1edu-u3_tray_storage_lemon_a": { + "path": "G1edu-u3_tray_storage_lemon_a", + "dataset_name": "tray_storage_lemon_a", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Grasp the calculator case with left gripper", + "tasks": "Place the lemon on the blue plate with left gripper", "objects": [ { "object_name": "table", @@ -19174,35 +19114,35 @@ "level5": null }, { - "object_name": "calculator_box", + "object_name": "tray", "level1": "container", - "level2": "calculator_box", + "level2": "tray", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", - "level1": "container", - "level2": "lid", + "object_name": "lemon", + "level1": "fruits", + "level2": "lemon", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-34396", - "dataset_size": "1.1GB", + "operation_platform_height": null, + "frame_range": "0-2298", + "dataset_size": "27.2MB", "statistics": { - "total_episodes": 150, - "total_frames": 34396, - "total_tasks": 2, - "total_videos": 600, + "total_episodes": 13, + "total_frames": 2298, + "total_tasks": 1, + "total_videos": 13, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 13, "fps": 30 }, - "dataset_uuid": "7629d634-2d89-41ad-a722-364a319f374b", + "dataset_uuid": "50af80c8-eb74-4dec-9689-8bea0af5a8c2", "language": [ "en", "zh" @@ -19211,16 +19151,9 @@ "robotics" ], "sub_tasks": [ - "Grasp the calculator case with left gripper", + "Place the lemon on the blue plate with left gripper", + "Place the lemon on the blue plate with right gripper", "End", - "Place the calculator case in the center of table with right gripper", - "Place the white box in the center of table with right gripper", - "Pass the white box to right gripper", - "Grasp the yellow book with left gripper", - "Place the yellow book in the center of table with right gripper", - "Pass the yellow book to right gripper", - "Pass the calculator case to right gripper", - "Grasp the white box with left gripper", "null" ], "annotations": { @@ -19258,691 +19191,158 @@ ], "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_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_mobile_accessory_storage_box_d": { - "path": "AgiBot-g1_mobile_accessory_storage_box_d", - "dataset_name": "mobile_accessory_storage_box_d", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" + "language": [ + "en" ], - "tasks": "Grasp the mouse and data cable", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "ambrosial_yogurt", + "level1": "food", + "level2": "ambrosial_yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "accessories", - "level1": "electronic_products", - "level2": "accessories", + "object_name": "banana", + "level1": "food", + "level2": "banana", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-17860", - "dataset_size": "7.6GB", - "statistics": { - "total_episodes": 30, - "total_frames": 17860, - "total_tasks": 1, - "total_videos": 240, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "add3803d-befc-4ae5-8bc7-b6d81060cdcf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the mouse and data cable", - "Place the mouse and data cable in the paper box", - "End", - "Place the mouse in the paper box", - "Grab and pick up the mouse and power cord from the accessory packaging area.", - "Abnormal", - "Place the mouse and power cord into the box.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "alpha_bot_2_pass_the_sandbag": { - "path": "alpha_bot_2_pass_the_sandbag", - "dataset_name": "pass_the_sandbag", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pass the paper ball to the right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "sandbag", - "level1": "toy", - "level2": "sandbag", + "object_name": "milk", + "level1": "food", + "level2": "milk", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-69956", - "dataset_size": "2.0GB", - "statistics": { - "total_episodes": 86, - "total_frames": 69956, - "total_tasks": 1, - "total_videos": 344, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "81e68aa6-8f11-4edf-9c00-cc322e4fc0c9", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pass the paper ball to the right gripper", - "End", - "Place the paper ball on the table with right gripper", - "Grasp the paper ball with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "alpha_bot_2_pass_the_sandbag_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_pass_the_sandbag_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel": { - "path": "leju_robot_box_storage_parcel", - "dataset_name": "box_storage_parcel", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the package on the scanner with left gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "grape", + "level1": "food", + "level2": "grape", "level3": null, "level4": null, "level5": null }, { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", + "object_name": "ham_sausage", + "level1": "food", + "level2": "ham_sausage", "level3": null, "level4": null, "level5": null }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-537851", - "dataset_size": "27.2GB", - "statistics": { - "total_episodes": 443, - "total_frames": 537851, - "total_tasks": 1, - "total_videos": 1329, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "b6a8ebae-9a8f-44c4-a7a1-7893c558480b", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the package on the scanner with left gripper", - "Abnormal", - "Put the parcel inside the courier box.", - "Place the parcel onto the inbound machine.", - "Place the parcel into the delivery box.", - "Grasp the package on the conveyor belt with right gripper", - "Place the package in the green box with left gripper", - "End", - "Pick up the parcel from the conveyor belt.", - "Take the parcel off the conveyor belt.", - "Place the package on the scanner with right gripper", - "Pick up the parcel from the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_s": { - "path": "leju_robot_moving_parts_s", - "dataset_name": "moving_parts_s", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Return to the initial position at the shelf", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "rubik's_cube", + "level1": "toys", + "level2": "rubik's_cube", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-776972", - "dataset_size": "53.8GB", - "statistics": { - "total_episodes": 495, - "total_frames": 776972, - "total_tasks": 1, - "total_videos": 1485, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "4f3b96f0-482a-45ca-9176-d8cdf62101c7", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Return to the initial position at the shelf", - "Grasp the black part with right gripper", - "End", - "Abnormal", - "Pick up the large material from the shelf", - "Place the black part on the table with right gripper", - "Move to the table behind body", - "Move the large material to the workbench", - "Insert the large material into the corresponding slot on the workbench", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_clean_the_desktop_a": { - "path": "AIRBOT_MMK2_clean_the_desktop_a", - "dataset_name": "clean_the_desktop_a", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the calculator case in the center of table with right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "purple_trash_bag", + "level1": "trash", + "level2": "purple_trash_bag", "level3": null, "level4": null, "level5": null }, { - "object_name": "calculator_box", - "level1": "tools", - "level2": "umbrella", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-9819", - "dataset_size": "338.3MB", - "statistics": { - "total_episodes": 50, - "total_frames": 9819, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d998", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the calculator case in the center of table with right gripper", - "Grasp the calculator case with left gripper", - "Pass the calculator case to 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" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n�� ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\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 └── (...)" - }, - "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ - { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ambrosial_yogurt", - "level1": "food", - "level2": "ambrosial_yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "food", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "food", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "food", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "grape", - "level1": "food", - "level2": "grape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ham_sausage", - "level1": "food", - "level2": "ham_sausage", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eggplant", - "level1": "food", - "level2": "eggplant", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chewing_gum", - "level1": "food", - "level2": "chewing_gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eyeglass_case", - "level1": "laboratory_supplies", - "level2": "eyeglass_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubik's_cube", - "level1": "toys", - "level2": "rubik's_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "purple_trash_bag", - "level1": "trash", - "level2": "purple_trash_bag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cleanser", - "level1": "daily_necessities", - "level2": "cleanser", + "object_name": "cleanser", + "level1": "daily_necessities", + "level2": "cleanser", "level3": null, "level4": null, "level5": null @@ -19972,9 +19372,9 @@ "level5": null }, { - "object_name": "khaki_table_cloths", + "object_name": "black_table_cloths", "level1": "laboratory_supplies", - "level2": "khaki_table_cloths", + "level2": "black_table_cloths", "level3": null, "level4": null, "level5": null @@ -19982,176 +19382,136 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "use the left gripper to pick up the item and transfer it from the left gripper to the right gripper." + "use the right gripper to pick up the item and transfer it from the right gripper to the left gripper." ], "sub_tasks": [ { - "subtask": "Pass the purple garbage bag to the right gripper", + "subtask": "The left gripper places milk on the left side of the table", "subtask_index": 0 }, { - "subtask": "Pass the shower sphere to the right gripper", + "subtask": "The left gripper places bread on the left side of the table", "subtask_index": 1 }, { - "subtask": "Place the milk on the table with the right gripper", + "subtask": "Pass the bread to the left gripper", "subtask_index": 2 }, { - "subtask": "Place the XX on the table with the right gripper", + "subtask": "Pass the shower sphere to the left gripper", "subtask_index": 3 }, { - "subtask": "Pass the yogurt to the right gripper", + "subtask": "Use the right gripper to grab the bread on the right side of the table", "subtask_index": 4 }, { - "subtask": "End", + "subtask": "Use the right gripper to grab the grape on the right side of the table", "subtask_index": 5 }, { - "subtask": "Pass the milk to the right gripper", + "subtask": "End", "subtask_index": 6 }, { - "subtask": "Place the purple garbage bag on the table with the right gripper", + "subtask": "Use the right gripper to grab the banana on the right side of the table", "subtask_index": 7 }, { - "subtask": "Place the Rubik's Cube on the table with the right gripper", + "subtask": "Pass the purple garbage bag to the left gripper", "subtask_index": 8 }, { - "subtask": "Grasp the blue blackboard erasure with the left gripper", + "subtask": "Pass the Rubik's Cube to the left gripper", "subtask_index": 9 }, { - "subtask": "Grasp the shower sphere with the left gripper", + "subtask": "The left gripper places yogurt on the left side of the table", "subtask_index": 10 }, { - "subtask": "Grasp the plush banana with the left gripper", + "subtask": "The left gripper places shower sphere on the left side of the table", "subtask_index": 11 }, { - "subtask": "Grasp the yogurt with the left gripper", + "subtask": "Use the right gripper to grab the shower sphere on the right side of the table", "subtask_index": 12 }, { - "subtask": "Grasp the milk with the left gripper\n", + "subtask": "Use the right gripper to grab the grapes on the right side of the table", "subtask_index": 13 }, { - "subtask": "Pass the plush banana to the right gripper", + "subtask": "Pass the yogurt to the left gripper", "subtask_index": 14 }, { - "subtask": "Place the blue blackboard erasure on the table with the right gripper", + "subtask": "The left gripper places grape on the left side of the table", "subtask_index": 15 }, { - "subtask": "Abnormal", + "subtask": "The left gripper places grapes on the left side of the table", "subtask_index": 16 }, { - "subtask": "Grasp the XX with the left gripper", + "subtask": "Use the right gripper to grab the milk on the right side of the table", "subtask_index": 17 }, { - "subtask": "Grasp the blue blackboard erasure with the left grippe", + "subtask": "Pass the milk to the left gripper", "subtask_index": 18 }, { - "subtask": "Pass the Rubik's Cube to the right gripper", + "subtask": "The left gripper places banana on the left side of the table", "subtask_index": 19 }, { - "subtask": "Place the milk on the table with the right gripper\n", + "subtask": "Use the right gripper to grab the eyeglass case on the right side of the table", "subtask_index": 20 }, { - "subtask": "Pass the long bread to the right gripper\n", + "subtask": "Pass the banana to the left gripper", "subtask_index": 21 }, { - "subtask": "\nPass the milk to the right gripper", + "subtask": "Pass the grapes to the left gripper", "subtask_index": 22 }, { - "subtask": "Pass the long bread to the right gripper", + "subtask": "Use the right gripper to grab the purple garbage bag on the right side of the table", "subtask_index": 23 }, { - "subtask": "Grasp the milk with the left gripper", + "subtask": "Pass the grape to the left gripper", "subtask_index": 24 }, { - "subtask": "Pass the blue blackboard erasure to the right gripper", + "subtask": "The left gripper places eyeglass case on the left side of the table", "subtask_index": 25 }, { - "subtask": "Place the long bread on the table with the right gripper", + "subtask": "Pass the eyeglass case to the left gripper", "subtask_index": 26 }, { - "subtask": "Grasp the long bread with the left gripper", + "subtask": "Use the right gripper to grab the yogurt on the right side of the table", "subtask_index": 27 }, { - "subtask": "Grasp the Rubik's Cube with the left gripper", + "subtask": "Use the right gripper to grab the Rubik's Cube on the right side of the table", "subtask_index": 28 }, { - "subtask": "Place the yogurt on the table with the right gripper", + "subtask": "\nPass the milk to the left gripper\n", "subtask_index": 29 }, { - "subtask": "Place the plush banana on the table with the right gripper", + "subtask": "The left gripper places purple garbage bag on the left side of the table", "subtask_index": 30 }, - { - "subtask": "Pass the milk to the right gripper\n", - "subtask_index": 31 - }, - { - "subtask": "Place the grape on the table with the right gripper", - "subtask_index": 32 - }, - { - "subtask": "Grasp the long bread with the left gripper\n", - "subtask_index": 33 - }, - { - "subtask": "Pass the milk to the right gripper", - "subtask_index": 34 - }, - { - "subtask": "Pass the grape to the right gripper", - "subtask_index": 35 - }, - { - "subtask": "Pass the blue garbage bag to the right gripper", - "subtask_index": 36 - }, - { - "subtask": "Pass the xx to the right gripper", - "subtask_index": 37 - }, - { - "subtask": "Grasp the grape with the left gripper", - "subtask_index": 38 - }, - { - "subtask": "Grasp the purple garbage bag with the left gripper", - "subtask_index": 39 - }, - { - "subtask": "Place the shower sphere on the table with the right gripper", - "subtask_index": 40 - }, { "subtask": "null", - "subtask_index": 41 + "subtask_index": 31 } ], "atomic_actions": [ @@ -20191,23 +19551,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 97, - "total_frames": 53653, + "total_episodes": 93, + "total_frames": 59541, "fps": 30, - "total_tasks": 42, - "total_videos": 291, + "total_tasks": 32, + "total_videos": 279, "total_chunks": 1, "chunks_size": 1000, "state_dim": 26, "action_dim": 26, "camera_views": 3, - "dataset_size": "636.04 MB" + "dataset_size": "1.15 GB" }, - "frame_num": 53653, - "dataset_size": "636.04 MB", - "data_structure": "Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 59541, + "dataset_size": "1.15 GB", + "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:96" + "train": "0:92" }, "features": { "observation.images.cam_head_rgb": { @@ -20578,9 +19938,9 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": { - "path": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks", - "dataset_name": "store_beauty_blender_and_building_blocks", + "AIRBOT_MMK2_clean_the_desktop": { + "path": "AIRBOT_MMK2_clean_the_desktop", + "dataset_name": "clean_the_desktop", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -20588,10 +19948,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Grasp the green cuboid block with the right gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -20602,43 +19962,27 @@ "level5": null }, { - "object_name": "marble", - "level1": "toy", - "level2": "marble", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "building_blocks", - "level1": "toy", - "level2": "building_blocks", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "calculator_box", + "level1": "tools", + "level2": "umbrella", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-9178", - "dataset_size": "300.5MB", + "frame_range": "0-8709", + "dataset_size": "327.5MB", "statistics": { - "total_episodes": 50, - "total_frames": 9178, + "total_episodes": 49, + "total_frames": 8709, "total_tasks": 1, - "total_videos": 200, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "fee911a7-d998-45da-b549-b1621ca063be", + "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d999", "language": [ "en", "zh" @@ -20647,12 +19991,11 @@ "robotics" ], "sub_tasks": [ - "Grasp the green cuboid block with the right gripper", - "Place the bullet into the bowl with the left gripper", "End", - "Grasp the bullet with the left gripper", - "Abnormal", - "Place the green cuboid block into the bowl with the right gripper", + "Grasp the tissue with the right gripper", + "Place the umbrella on the white lid with the left gripper", + "Place the tissue on the white lid with the right gripper", + "Grasp the umbrella with the left gripper", "null" ], "annotations": { @@ -20690,154 +20033,531 @@ ], "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_store_beauty_blender_and_building_blocks_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_store_beauty_blender_and_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_place_the_fruits_repeatedly": { - "path": "RMC-AIDA-L_place_the_fruits_repeatedly", - "dataset_name": "place_the_fruits_repeatedly", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_storage_bottle_part": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick", - "pour" + "language": [ + "en" ], - "tasks": "Pick up the bowl with the left gripper", + "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_bottle_part", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "water_bottle", + "level1": "beverages", + "level2": "water_bottle", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "handle", + "level1": "laboratory_supplies", + "level2": "handle", "level3": null, "level4": null, "level5": null }, { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", + "object_name": "carton", + "level1": "laboratory_supplies", + "level2": "carton", "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 water bottle and handle into the cardboard box." + ], + "sub_tasks": [ + { + "subtask": "Grasp the water bottle with the right gripper", + "subtask_index": 0 }, { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the water bottle into the cardboard box with the right gripper", + "subtask_index": 1 }, { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null + "subtask": "Lift the water bottle with the right gripper", + "subtask_index": 2 }, { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null + "subtask": "Lift the remote control clip with the left gripper ", + "subtask_index": 3 + }, + { + "subtask": "Abnormal", + "subtask_index": 4 + }, + { + "subtask": "Static", + "subtask_index": 5 + }, + { + "subtask": "Place the remote control clip into the cardboard box with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "End", + "subtask_index": 7 + }, + { + "subtask": "Grasp the remote control clip with the left gripper ", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 } ], - "operation_platform_height": 77.2, - "frame_range": "0-541540", - "dataset_size": "3.7GB", - "statistics": { - "total_episodes": 481, - "total_frames": 541540, - "total_tasks": 8, - "total_videos": 1443, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3448d8ea-8209-43cf-bfcc-550863a26b13", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Pick up the bowl with the left gripper", - "Place the bread into the bowl", - "abnormal", - "Pick up the egg yolk pastry with the right gripper", - "Pour the egg yolk pastry out of bowl", - "Pour the orange out of the bowl", - "Place the peach into the bowl", - "Pour the peach out of bowl", - "Place the egg yolk pastry into the bowl", - "Pick up the bread with the right gripper", - "Pick up the peach with the right gripper", - "Pour the bread out of the bowl", - "end", - "Place the bowl on the table", - "Place the orange into the bowl", - "Pick up the orange with the right gripper", - "null" + "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" ], - "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" + "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": 10499, + "fps": 30, + "total_tasks": 10, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "508.16 MB" + }, + "frame_num": 10499, + "dataset_size": "508.16 MB", + "data_structure": "Airbot_MMK2_storage_bottle_part_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": "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_place_the_fruits_repeatedly_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 └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": { - "path": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers", - "dataset_name": "place_the_piano_and_the_needle-nose_pliers", + "AIRBOT_MMK2_mobile_calculator_box": { + "path": "AIRBOT_MMK2_mobile_calculator_box", + "dataset_name": "mobile_calculator_box", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -20848,7 +20568,7 @@ "place", "pick" ], - "tasks": "End", + "tasks": "Grasp the calculator case with left gripper", "objects": [ { "object_name": "table", @@ -20859,9 +20579,9 @@ "level5": null }, { - "object_name": "hand_tapping_the_qin", - "level1": "toy", - "level2": "hand_tapping_the_qin", + "object_name": "calculator_box", + "level1": "container", + "level2": "calculator_box", "level3": null, "level4": null, "level5": null @@ -20873,29 +20593,21 @@ "level3": null, "level4": null, "level5": null - }, - { - "object_name": "long-nose_pliers", - "level1": "tool", - "level2": "long-nose_pliers", - "level3": null, - "level4": null, - "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-25318", - "dataset_size": "826.8MB", + "frame_range": "0-34396", + "dataset_size": "1.1GB", "statistics": { - "total_episodes": 49, - "total_frames": 25318, - "total_tasks": 1, - "total_videos": 196, + "total_episodes": 150, + "total_frames": 34396, + "total_tasks": 2, + "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "230992b4-bba2-4f5b-99ce-03e63d148ce1", + "dataset_uuid": "7629d634-2d89-41ad-a722-364a319f374b", "language": [ "en", "zh" @@ -20904,13 +20616,16 @@ "robotics" ], "sub_tasks": [ + "Grasp the calculator case with left gripper", "End", - "Static", - "Place the tongs on the white lid with the right gripper", - "Grasp the tongs with the right gripper", - "Place the xylophone on the white lid with the left gripper", - "Grasp the xylophone with the left gripper", - "Abnormal", + "Place the calculator case in the center of table with right gripper", + "Place the white box in the center of table with right gripper", + "Pass the white box to right gripper", + "Grasp the yellow book with left gripper", + "Place the yellow book in the center of table with right gripper", + "Pass the yellow book to right gripper", + "Pass the calculator case to right gripper", + "Grasp the white box with left gripper", "null" ], "annotations": { @@ -20948,21 +20663,23 @@ ], "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_place_the_piano_and_the_needle-nose_pliers_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_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_take_the_book": { - "path": "AIRBOT_MMK2_take_the_book", - "dataset_name": "take_the_book", + "AgiBot-g1_mobile_accessory_storage_box_d": { + "path": "AgiBot-g1_mobile_accessory_storage_box_d", + "dataset_name": "mobile_accessory_storage_box_d", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ + "grasp", + "place", "pick" ], - "tasks": "Lay the book down with the right gripper", + "tasks": "Grasp the mouse and data cable", "objects": [ { "object_name": "table", @@ -20973,35 +20690,35 @@ "level5": null }, { - "object_name": "bookshelf", + "object_name": "box", "level1": "container", - "level2": "bookshelf", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "book", - "level1": "stationery", - "level2": "book", + "object_name": "accessories", + "level1": "electronic_products", + "level2": "accessories", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-9314", - "dataset_size": "352.3MB", + "operation_platform_height": null, + "frame_range": "0-17860", + "dataset_size": "7.6GB", "statistics": { - "total_episodes": 79, - "total_frames": 9314, - "total_tasks": 2, - "total_videos": 316, + "total_episodes": 30, + "total_frames": 17860, + "total_tasks": 1, + "total_videos": 240, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "a04264d7-7e81-40cc-af53-0ec87db1f556", + "dataset_uuid": "add3803d-befc-4ae5-8bc7-b6d81060cdcf", "language": [ "en", "zh" @@ -21010,10 +20727,13 @@ "robotics" ], "sub_tasks": [ - "Lay the book down with the right gripper", - "Hold the book with the right gripper", - "Abnormal", + "Grasp the mouse and data cable", + "Place the mouse and data cable in the paper box", "End", + "Place the mouse in the paper box", + "Grab and pick up the mouse and power cord from the accessory packaging area.", + "Abnormal", + "Place the mouse and power cord into the box.", "null" ], "annotations": { @@ -21051,12 +20771,12 @@ ], "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_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_move_the_plate": { - "path": "Cobot_Magic_move_the_plate", - "dataset_name": "move_the_plate", + "alpha_bot_2_pass_the_sandbag": { + "path": "alpha_bot_2_pass_the_sandbag", + "dataset_name": "pass_the_sandbag", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -21067,7 +20787,7 @@ "pick", "place" ], - "tasks": "Pick the container that can hold fruits", + "tasks": "Pass the paper ball to the right gripper", "objects": [ { "object_name": "table", @@ -21078,27 +20798,140 @@ "level5": null }, { - "object_name": "plate", + "object_name": "sandbag", + "level1": "toy", + "level2": "sandbag", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-69956", + "dataset_size": "2.0GB", + "statistics": { + "total_episodes": 86, + "total_frames": 69956, + "total_tasks": 1, + "total_videos": 344, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "81e68aa6-8f11-4edf-9c00-cc322e4fc0c9", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pass the paper ball to the right gripper", + "End", + "Place the paper ball on the table with right gripper", + "Grasp the paper ball with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "alpha_bot_2_pass_the_sandbag_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_pass_the_sandbag_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel": { + "path": "leju_robot_box_storage_parcel", + "dataset_name": "box_storage_parcel", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the package on the scanner with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parcel", "level1": "container", - "level2": "plate", + "level2": "parcel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-25057", - "dataset_size": "418.0MB", + "operation_platform_height": null, + "frame_range": "0-537851", + "dataset_size": "27.2GB", "statistics": { - "total_episodes": 98, - "total_frames": 25057, + "total_episodes": 443, + "total_frames": 537851, "total_tasks": 1, - "total_videos": 294, + "total_videos": 1329, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "8d39690e-e415-4f1c-9e39-2c0a83b6fe12", + "dataset_uuid": "b6a8ebae-9a8f-44c4-a7a1-7893c558480b", "language": [ "en", "zh" @@ -21107,8 +20940,18 @@ "robotics" ], "sub_tasks": [ - "Pick the container that can hold fruits", - "Move the picked object to the right side of the table", + "Grasp the package on the scanner with left gripper", + "Abnormal", + "Put the parcel inside the courier box.", + "Place the parcel onto the inbound machine.", + "Place the parcel into the delivery box.", + "Grasp the package on the conveyor belt with right gripper", + "Place the package in the green box with left gripper", + "End", + "Pick up the parcel from the conveyor belt.", + "Take the parcel off the conveyor belt.", + "Place the package on the scanner with right gripper", + "Pick up the parcel from the inbound machine.", "null" ], "annotations": { @@ -21146,15 +20989,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_move_the_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 └── (...)", - "structure": "Cobot_Magic_move_the_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 └── (...)" + "data_schema": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_robotic_arm_picks_up_battery": { - "path": "AgiBot-g1_robotic_arm_picks_up_battery", - "dataset_name": "robotic_arm_picks_up_battery", + "leju_robot_moving_parts_s": { + "path": "leju_robot_moving_parts_s", + "dataset_name": "moving_parts_s", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -21162,7 +21005,7 @@ "pick", "place" ], - "tasks": "Place the power supply on the operating table.", + "tasks": "Return to the initial position at the shelf", "objects": [ { "object_name": "table", @@ -21173,35 +21016,35 @@ "level5": null }, { - "object_name": "carton", - "level1": "laboratory_supplies", - "level2": "carton", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "battery", - "level1": "tool", - "level2": "battery", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-30215", - "dataset_size": "17.9GB", + "frame_range": "0-776972", + "dataset_size": "53.8GB", "statistics": { - "total_episodes": 56, - "total_frames": 30215, + "total_episodes": 495, + "total_frames": 776972, "total_tasks": 1, - "total_videos": 448, + "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "14af3598-fff7-4c0b-bca2-16c57884c70e", + "dataset_uuid": "4f3b96f0-482a-45ca-9176-d8cdf62101c7", "language": [ "en", "zh" @@ -21210,8 +21053,15 @@ "robotics" ], "sub_tasks": [ - "Place the power supply on the operating table.", - "Grab and lift the power supply from the large box.", + "Return to the initial position at the shelf", + "Grasp the black part with right gripper", + "End", + "Abnormal", + "Pick up the large material from the shelf", + "Place the black part on the table with right gripper", + "Move to the table behind body", + "Move the large material to the workbench", + "Insert the large material into the corresponding slot on the workbench", "null" ], "annotations": { @@ -21249,10 +21099,107 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_braised_pork_belly_shrimp": { + "AIRBOT_MMK2_clean_the_desktop_a": { + "path": "AIRBOT_MMK2_clean_the_desktop_a", + "dataset_name": "clean_the_desktop_a", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the calculator case in the center of table with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "calculator_box", + "level1": "tools", + "level2": "umbrella", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-9819", + "dataset_size": "338.3MB", + "statistics": { + "total_episodes": 50, + "total_frames": 9819, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d998", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the calculator case in the center of table with right gripper", + "Grasp the calculator case with left gripper", + "Pass the calculator case to 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" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\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 └── (...)" + }, + "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth": { "task_categories": [ "robotics" ], @@ -21282,11 +21229,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_braised_pork_belly_shrimp", + "dataset_name": "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "commercial_convenience", + "level2": "supermarket", "level3": null, "level4": null, "level5": null @@ -21294,25 +21241,145 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "shrimp", - "level1": "prepared_dishes", - "level2": "shrimp", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "braised_pork", - "level1": "prepared_dishes", - "level2": "braised_pork", + "object_name": "ambrosial_yogurt", + "level1": "food", + "level2": "ambrosial_yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "plates", - "level2": "plate", + "object_name": "banana", + "level1": "food", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "food", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grape", + "level1": "food", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "ham_sausage", + "level1": "food", + "level2": "ham_sausage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubik's_cube", + "level1": "toys", + "level2": "rubik's_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "purple_trash_bag", + "level1": "trash", + "level2": "purple_trash_bag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cleanser", + "level1": "daily_necessities", + "level2": "cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "whiteboard_eraser", + "level1": "stationery", + "level2": "whiteboard_eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "candle", + "level1": "daily_necessities", + "level2": "candle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "khaki_table_cloths", + "level1": "laboratory_supplies", + "level2": "khaki_table_cloths", "level3": null, "level4": null, "level5": null @@ -21320,65 +21387,205 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "put the braised pork and shrimp on the plate" + "use the left gripper to pick up the item and transfer it from the left gripper to the right gripper." ], "sub_tasks": [ { - "subtask": "Place the braised pork in brown sauce into the plate with the left gripper", + "subtask": "Pass the purple garbage bag to the right gripper", "subtask_index": 0 }, { - "subtask": "Grasp the shrimp with the right gripper", + "subtask": "Pass the shower sphere to the right gripper", "subtask_index": 1 }, { - "subtask": "Place the shrimp into the plate with the right gripper", + "subtask": "Place the milk on the table with the right gripper", "subtask_index": 2 }, { - "subtask": "Grasp the cake from the table and with the left gripper", + "subtask": "Place the XX on the table with the right gripper", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Pass the yogurt to the right gripper", "subtask_index": 4 }, { - "subtask": "Grasp the braised pork in brown sauce with the left gripper", + "subtask": "End", "subtask_index": 5 }, { - "subtask": "null", + "subtask": "Pass the milk to the right gripper", "subtask_index": 6 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" + }, + { + "subtask": "Place the purple garbage bag on the table with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Place the Rubik's Cube on the table with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "Grasp the blue blackboard erasure with the left gripper", + "subtask_index": 9 + }, + { + "subtask": "Grasp the shower sphere with the left gripper", + "subtask_index": 10 + }, + { + "subtask": "Grasp the plush banana with the left gripper", + "subtask_index": 11 + }, + { + "subtask": "Grasp the yogurt with the left gripper", + "subtask_index": 12 + }, + { + "subtask": "Grasp the milk with the left gripper\n", + "subtask_index": 13 + }, + { + "subtask": "Pass the plush banana to the right gripper", + "subtask_index": 14 + }, + { + "subtask": "Place the blue blackboard erasure on the table with the right gripper", + "subtask_index": 15 + }, + { + "subtask": "Abnormal", + "subtask_index": 16 + }, + { + "subtask": "Grasp the XX with the left gripper", + "subtask_index": 17 + }, + { + "subtask": "Grasp the blue blackboard erasure with the left grippe", + "subtask_index": 18 + }, + { + "subtask": "Pass the Rubik's Cube to the right gripper", + "subtask_index": 19 + }, + { + "subtask": "Place the milk on the table with the right gripper\n", + "subtask_index": 20 + }, + { + "subtask": "Pass the long bread to the right gripper\n", + "subtask_index": 21 + }, + { + "subtask": "\nPass the milk to the right gripper", + "subtask_index": 22 + }, + { + "subtask": "Pass the long bread to the right gripper", + "subtask_index": 23 + }, + { + "subtask": "Grasp the milk with the left gripper", + "subtask_index": 24 + }, + { + "subtask": "Pass the blue blackboard erasure to the right gripper", + "subtask_index": 25 + }, + { + "subtask": "Place the long bread on the table with the right gripper", + "subtask_index": 26 + }, + { + "subtask": "Grasp the long bread with the left gripper", + "subtask_index": 27 + }, + { + "subtask": "Grasp the Rubik's Cube with the left gripper", + "subtask_index": 28 + }, + { + "subtask": "Place the yogurt on the table with the right gripper", + "subtask_index": 29 + }, + { + "subtask": "Place the plush banana on the table with the right gripper", + "subtask_index": 30 + }, + { + "subtask": "Pass the milk to the right gripper\n", + "subtask_index": 31 + }, + { + "subtask": "Place the grape on the table with the right gripper", + "subtask_index": 32 + }, + { + "subtask": "Grasp the long bread with the left gripper\n", + "subtask_index": 33 + }, + { + "subtask": "Pass the milk to the right gripper", + "subtask_index": 34 + }, + { + "subtask": "Pass the grape to the right gripper", + "subtask_index": 35 + }, + { + "subtask": "Pass the blue garbage bag to the right gripper", + "subtask_index": 36 + }, + { + "subtask": "Pass the xx to the right gripper", + "subtask_index": 37 + }, + { + "subtask": "Grasp the grape with the left gripper", + "subtask_index": 38 + }, + { + "subtask": "Grasp the purple garbage bag with the left gripper", + "subtask_index": 39 + }, + { + "subtask": "Place the shower sphere on the table with the right gripper", + "subtask_index": 40 + }, + { + "subtask": "null", + "subtask_index": 41 + } + ], + "atomic_actions": [ + "grasp", + "lift", + "lower", + "handover", + "takeover" ], "robot_name": [ - "Airbot_MMK2" + "agilex_cobot_magic" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -21389,23 +21596,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 38, - "total_frames": 5834, + "total_episodes": 97, + "total_frames": 53653, "fps": 30, - "total_tasks": 7, - "total_videos": 152, + "total_tasks": 42, + "total_videos": 291, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "277.59 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "636.04 MB" }, - "frame_num": 5834, - "dataset_size": "277.59 MB", - "data_structure": "Airbot_MMK2_storage_braised_pork_belly_shrimp_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| `-- ... (26 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 53653, + "dataset_size": "636.04 MB", + "data_structure": "Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:37" + "train": "0:96" }, "features": { "observation.images.cam_head_rgb": { @@ -21477,33 +21684,10 @@ "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 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -21512,42 +21696,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "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" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -21556,36 +21730,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "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" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -21625,17 +21789,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -21652,10 +21816,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -21672,70 +21836,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 + ] + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" ], - "dtype": "int32" + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -21757,22 +21981,22 @@ "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" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "alpha_bot_2_stack_building_blocks": { - "path": "alpha_bot_2_stack_building_blocks", - "dataset_name": "stack_building_blocks", + "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": { + "path": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks", + "dataset_name": "store_beauty_blender_and_building_blocks", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Grasp the blue building block with left gripper", + "tasks": "Grasp the green cuboid block with the right gripper", "objects": [ { "object_name": "table", @@ -21782,28 +22006,44 @@ "level4": null, "level5": null }, + { + "object_name": "marble", + "level1": "toy", + "level2": "marble", + "level3": null, + "level4": null, + "level5": null + }, { "object_name": "building_blocks", - "level1": "toys", + "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-130049", - "dataset_size": "3.4GB", + "operation_platform_height": 77.2, + "frame_range": "0-9178", + "dataset_size": "300.5MB", "statistics": { - "total_episodes": 139, - "total_frames": 130049, + "total_episodes": 50, + "total_frames": 9178, "total_tasks": 1, - "total_videos": 556, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "f7781909-81c7-40ee-98a5-67783a48dc66", + "dataset_uuid": "fee911a7-d998-45da-b549-b1621ca063be", "language": [ "en", "zh" @@ -21812,22 +22052,12 @@ "robotics" ], "sub_tasks": [ - "Grasp the blue building block with left gripper", + "Grasp the green cuboid block with the right gripper", + "Place the bullet into the bowl with the left gripper", "End", - "Place the pink building block in the center of table with left gripper", - "Grasp the pink building block with left gripper", - "Place the blue building block on the pink building blocks with left gripper", - "Grasp the green building block with left gripper", - "Place the pink building block on the blue building blocks with right gripper", - "Place the green block on the pink block with left gripper", - "Place the blue building block on the blue building blocks with right gripper", - "Place the blue building block on the pink building blocks with right gripper", - "Grasp the blue building block with right gripper", - "Place the pink building block on the blue building blocks with left gripper", - "Place the blue building block on the blue building blocks with left gripper", - "Grasp the pink building block with right gripper", - "Place the pink block on the blue block with right gripper", - "Place the blue building block in the center of table with left gripper", + "Grasp the bullet with the left gripper", + "Abnormal", + "Place the green cuboid block into the bowl with the right gripper", "null" ], "annotations": { @@ -21865,12 +22095,12 @@ ], "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": "alpha_bot_2_stack_building_blocks_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_stack_building_blocks_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_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_store_beauty_blender_and_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_catch_the_ball": { - "path": "Cobot_Magic_catch_the_ball", - "dataset_name": "catch_the_ball", + "RMC-AIDA-L_place_the_fruits_repeatedly": { + "path": "RMC-AIDA-L_place_the_fruits_repeatedly", + "dataset_name": "place_the_fruits_repeatedly", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -21878,10 +22108,11 @@ "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick", - "place" + "pour" ], - "tasks": "Put the picked-up object on the table.", + "tasks": "Pick up the bowl with the left gripper", "objects": [ { "object_name": "table", @@ -21892,27 +22123,59 @@ "level5": null }, { - "object_name": "ball", - "level1": "toy", - "level2": "ball", + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-57085", - "dataset_size": "877.6MB", + "frame_range": "0-541540", + "dataset_size": "3.7GB", "statistics": { - "total_episodes": 98, - "total_frames": 57085, - "total_tasks": 1, - "total_videos": 294, + "total_episodes": 481, + "total_frames": 541540, + "total_tasks": 8, + "total_videos": 1443, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "3ea12ae6-b4f3-453d-b56f-bca0e5a346c8", + "dataset_uuid": "3448d8ea-8209-43cf-bfcc-550863a26b13", "language": [ "en", "zh" @@ -21921,10 +22184,22 @@ "robotics" ], "sub_tasks": [ - "Put the picked-up object on the table.", - "Grab the rolling spherical object.", - "Grab the spherical object with your left arm.", - "Place the sphere on the white object.", + "Pick up the bowl with the left gripper", + "Place the bread into the bowl", + "abnormal", + "Pick up the egg yolk pastry with the right gripper", + "Pour the egg yolk pastry out of bowl", + "Pour the orange out of the bowl", + "Place the peach into the bowl", + "Pour the peach out of bowl", + "Place the egg yolk pastry into the bowl", + "Pick up the bread with the right gripper", + "Pick up the peach with the right gripper", + "Pour the bread out of the bowl", + "end", + "Place the bowl on the table", + "Place the orange into the bowl", + "Pick up the orange with the right gripper", "null" ], "annotations": { @@ -21962,22 +22237,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ ��── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_place_the_fruits_repeatedly_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 └── (...)" }, - "Cobot_Magic_open_the_shoebox": { - "path": "Cobot_Magic_open_the_shoebox", - "dataset_name": "open_the_shoebox", + "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": { + "path": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers", + "dataset_name": "place_the_piano_and_the_needle-nose_pliers", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pull" + "place", + "pick" ], - "tasks": "Open the shoe box", + "tasks": "End", "objects": [ { "object_name": "table", @@ -21988,27 +22264,43 @@ "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "hand_tapping_the_qin", + "level1": "toy", + "level2": "hand_tapping_the_qin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "container", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long-nose_pliers", + "level1": "tool", + "level2": "long-nose_pliers", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-185740", - "dataset_size": "2.8GB", + "frame_range": "0-25318", + "dataset_size": "826.8MB", "statistics": { - "total_episodes": 299, - "total_frames": 185740, - "total_tasks": 3, - "total_videos": 897, + "total_episodes": 49, + "total_frames": 25318, + "total_tasks": 1, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "1708df8d-97e4-42b0-a8ee-de1bb93b4d77", + "dataset_uuid": "230992b4-bba2-4f5b-99ce-03e63d148ce1", "language": [ "en", "zh" @@ -22017,7 +22309,13 @@ "robotics" ], "sub_tasks": [ - "Open the shoe box", + "End", + "Static", + "Place the tongs on the white lid with the right gripper", + "Grasp the tongs with the right gripper", + "Place the xylophone on the white lid with the left gripper", + "Grasp the xylophone with the left gripper", + "Abnormal", "null" ], "annotations": { @@ -22055,24 +22353,21 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_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_place_the_piano_and_the_needle-nose_pliers_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 └── (...)" }, - "RMC-AIDA-L_pour_rice": { - "path": "RMC-AIDA-L_pour_rice", - "dataset_name": "pour_rice", + "AIRBOT_MMK2_take_the_book": { + "path": "AIRBOT_MMK2_take_the_book", + "dataset_name": "take_the_book", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", - "pick", - "place", - "pour" + "pick" ], - "tasks": "Pick up the cup with rice in it with the left gripper", + "tasks": "Lay the book down with the right gripper", "objects": [ { "object_name": "table", @@ -22083,43 +22378,35 @@ "level5": null }, { - "object_name": "rice", - "level1": "food", - "level2": "rice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "grain_cup", + "object_name": "bookshelf", "level1": "container", - "level2": "grain_cup", + "level2": "bookshelf", "level3": null, "level4": null, "level5": null }, { - "object_name": "rice_cooker", - "level1": "home_appliances", - "level2": "rice_cooker", + "object_name": "book", + "level1": "stationery", + "level2": "book", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-413739", - "dataset_size": "2.9GB", + "frame_range": "0-9314", + "dataset_size": "352.3MB", "statistics": { - "total_episodes": 714, - "total_frames": 413739, + "total_episodes": 79, + "total_frames": 9314, "total_tasks": 2, - "total_videos": 2142, + "total_videos": 316, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c79b49bf-cadf-4094-831d-bbf6403956c6", + "dataset_uuid": "a04264d7-7e81-40cc-af53-0ec87db1f556", "language": [ "en", "zh" @@ -22128,21 +22415,10 @@ "robotics" ], "sub_tasks": [ - "Pick up the cup with rice in it with the left gripper", + "Lay the book down with the right gripper", + "Hold the book with the right gripper", + "Abnormal", "End", - "Move the bowl in the center of view with left gripper", - "Pick up the bowl with the left gripper", - "Place the cup on the table with the right gripper", - "Pour the rice from the cup into the bowl with the left gripper", - "Place the bowl in the center of view with the right gripper", - "Static", - "Place the cup on the table with the left gripper", - "Pour the rice from the cup into the bowl with the right gripper", - "Pick up the cup with rice in it with the right gripper", - "Pick up the bowl with the right gripper", - "Place the bowl in the center of view with the left gripper", - "Grasp the cup with rice in it with right gripper", - "abnormal", "null" ], "annotations": { @@ -22180,15 +22456,15 @@ ], "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": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_bowl_storage_pepper": { - "path": "AIRBOT_MMK2_bowl_storage_pepper", - "dataset_name": "bowl_storage_pepper", + "Cobot_Magic_move_the_plate": { + "path": "Cobot_Magic_move_the_plate", + "dataset_name": "move_the_plate", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -22196,7 +22472,7 @@ "pick", "place" ], - "tasks": "Place the white bowl on the pink bowl with the left gripper", + "tasks": "Pick the container that can hold fruits", "objects": [ { "object_name": "table", @@ -22207,43 +22483,27 @@ "level5": null }, { - "object_name": "chili_pepper", - "level1": "vegetables", - "level2": "chili_pepper", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", + "object_name": "plate", "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pumpkin", - "level1": "vegetables", - "level2": "pumpkin", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-19594", - "dataset_size": "715.7MB", + "frame_range": "0-25057", + "dataset_size": "418.0MB", "statistics": { - "total_episodes": 150, - "total_frames": 19594, - "total_tasks": 3, - "total_videos": 600, + "total_episodes": 98, + "total_frames": 25057, + "total_tasks": 1, + "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "83f67fd9-c480-4786-ae1d-41475a4f4618", + "dataset_uuid": "8d39690e-e415-4f1c-9e39-2c0a83b6fe12", "language": [ "en", "zh" @@ -22252,15 +22512,8 @@ "robotics" ], "sub_tasks": [ - "Place the white bowl on the pink bowl with the left gripper", - "Grasp the white bowl with the left gripper", - "Static", - "End", - "Abnormal", - "Grasp the pumpkin with the left gripper", - "Place the pumpkin on the pink bowl with the left gripper", - "Grasp the yellow round chili pepper with the right gripper", - "Place yellow round chili pepper on the blue bowl with the right gripper", + "Pick the container that can hold fruits", + "Move the picked object to the right side of the table", "null" ], "annotations": { @@ -22298,23 +22551,23 @@ ], "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_bowl_storage_pepper_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_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_move_the_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 └── (...)", + "structure": "Cobot_Magic_move_the_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 └── (...)" }, - "R1_Lite_move_the_position_of_the_cookie": { - "path": "R1_Lite_move_the_position_of_the_cookie", - "dataset_name": "move_the_position_of_the_cookie", + "AgiBot-g1_robotic_arm_picks_up_battery": { + "path": "AgiBot-g1_robotic_arm_picks_up_battery", + "dataset_name": "robotic_arm_picks_up_battery", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Place the cookie on the table with right gripper", + "tasks": "Place the power supply on the operating table.", "objects": [ { "object_name": "table", @@ -22325,484 +22578,183 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", + "object_name": "carton", + "level1": "laboratory_supplies", + "level2": "carton", "level3": null, "level4": null, "level5": null }, { - "object_name": "peeler", + "object_name": "battery", "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", + "level2": "battery", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-30215", + "dataset_size": "17.9GB", + "statistics": { + "total_episodes": 56, + "total_frames": 30215, + "total_tasks": 1, + "total_videos": 448, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "14af3598-fff7-4c0b-bca2-16c57884c70e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the power supply on the operating table.", + "Grab and lift the power supply from the large box.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_braised_pork_belly_shrimp": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null + "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_braised_pork_belly_shrimp", + "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": "soap", - "level1": "daily_necessities", - "level2": "soap", + "object_name": "shrimp", + "level1": "prepared_dishes", + "level2": "shrimp", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "braised_pork", + "level1": "prepared_dishes", + "level2": "braised_pork", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "plate", + "level1": "plates", + "level2": "plate", "level3": null, "level4": null, "level5": null - }, + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the braised pork and shrimp on the plate" + ], + "sub_tasks": [ { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the braised pork in brown sauce into the plate with the left gripper", + "subtask_index": 0 }, { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the shrimp with the right gripper", + "subtask_index": 1 }, { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the shrimp into the plate with the right gripper", + "subtask_index": 2 }, { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cake from the table and with the left gripper", + "subtask_index": 3 }, { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 4 }, { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-5045", - "dataset_size": "198.3MB", - "statistics": { - "total_episodes": 25, - "total_frames": 5045, - "total_tasks": 1, - "total_videos": 100, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "7015670f-e702-4c08-a662-e74aee0c0872", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the cookie on the table with right gripper", - "Static", - "Place the cookie on the table with left gripper", - "End", - "Grasp the cookie with right gripper", - "Grasp the cookie with left gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_cookie_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_cookie_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_move_tub": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_tub", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "kitchen", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ - { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "pass the plate to your right hand with your left hand and then put it down." - ], - "sub_tasks": [ - { - "subtask": "Grasp the white box with left gripper", - "subtask_index": 0 - }, - { - "subtask": "Place the white box in the center of table with right gripper", - "subtask_index": 1 - }, - { - "subtask": "End", - "subtask_index": 2 - }, - { - "subtask": "Pass the white box to right gripper", - "subtask_index": 3 + "subtask": "Grasp the braised pork in brown sauce with the left gripper", + "subtask_index": 5 }, { "subtask": "null", - "subtask_index": 4 + "subtask_index": 6 } ], "atomic_actions": [ @@ -22842,23 +22794,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 37, - "total_frames": 11634, + "total_episodes": 38, + "total_frames": 5834, "fps": 30, - "total_tasks": 5, - "total_videos": 148, + "total_tasks": 7, + "total_videos": 152, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "340.31 MB" + "dataset_size": "277.59 MB" }, - "frame_num": 11634, - "dataset_size": "340.31 MB", - "data_structure": "Airbot_MMK2_move_tub_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| `-- ... (25 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 5834, + "dataset_size": "277.59 MB", + "data_structure": "Airbot_MMK2_storage_braised_pork_belly_shrimp_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| `-- ... (26 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:36" + "train": "0:37" }, "features": { "observation.images.cam_head_rgb": { @@ -23212,19 +23164,20 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "G1edu-u3_put_the_lemon_af": { - "path": "G1edu-u3_put_the_lemon_af", - "dataset_name": "put_the_lemon_af", + "alpha_bot_2_stack_building_blocks": { + "path": "alpha_bot_2_stack_building_blocks", + "dataset_name": "stack_building_blocks", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", + "pick", "place" ], - "tasks": "End", + "tasks": "Grasp the blue building block with left gripper", "objects": [ { "object_name": "table", @@ -23235,27 +23188,27 @@ "level5": null }, { - "object_name": "lemon", - "level1": "fruits", - "level2": "lemon", + "object_name": "building_blocks", + "level1": "toys", + "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-3544", - "dataset_size": "37.1MB", + "frame_range": "0-130049", + "dataset_size": "3.4GB", "statistics": { - "total_episodes": 19, - "total_frames": 3544, + "total_episodes": 139, + "total_frames": 130049, "total_tasks": 1, - "total_videos": 19, + "total_videos": 556, "total_chunks": 1, - "chunks_size": 19, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c37586ed-bc01-40b2-9038-cd26ce06df5b", + "dataset_uuid": "f7781909-81c7-40ee-98a5-67783a48dc66", "language": [ "en", "zh" @@ -23264,9 +23217,22 @@ "robotics" ], "sub_tasks": [ + "Grasp the blue building block with left gripper", "End", - "Place the lemon on the table with right gripper", - "Place the lemon on the table with left gripper", + "Place the pink building block in the center of table with left gripper", + "Grasp the pink building block with left gripper", + "Place the blue building block on the pink building blocks with left gripper", + "Grasp the green building block with left gripper", + "Place the pink building block on the blue building blocks with right gripper", + "Place the green block on the pink block with left gripper", + "Place the blue building block on the blue building blocks with right gripper", + "Place the blue building block on the pink building blocks with right gripper", + "Grasp the blue building block with right gripper", + "Place the pink building block on the blue building blocks with left gripper", + "Place the blue building block on the blue building blocks with left gripper", + "Grasp the pink building block with right gripper", + "Place the pink block on the blue block with right gripper", + "Place the blue building block in the center of table with left gripper", "null" ], "annotations": { @@ -23304,523 +23270,109 @@ ], "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": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ��── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "alpha_bot_2_stack_building_blocks_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_stack_building_blocks_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_take_drink": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "Cobot_Magic_catch_the_ball": { + "path": "Cobot_Magic_catch_the_ball", + "dataset_name": "catch_the_ball", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "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_drink", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "convenience", - "level2": "supermarket", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "tasks": "Put the picked-up object on the table.", "objects": [ { - "object_name": "any_beverages", - "level1": "beverages", - "level2": "any_beverages", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "paper_cup", - "level1": "cups", - "level2": "paper_cup", + "object_name": "ball", + "level1": "toy", + "level2": "ball", "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "pick up the drink by hand and put it on the table." - ], - "sub_tasks": [ - { - "subtask": "Place the coffee on the table with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Place the vitamin B water on the table with the left gripper", - "subtask_index": 1 - }, - { - "subtask": "Abnormal", - "subtask_index": 2 - }, - { - "subtask": "Place the vitamin B water on the table with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "Place the coffee on the table with the right gripper", - "subtask_index": 4 - }, - { - "subtask": "Grasp the vitamin B water on the white lid with the left gripper", - "subtask_index": 5 - }, - { - "subtask": "Grasp the vitamin B water on the white lid with the right gripper", - "subtask_index": 6 - }, - { - "subtask": "End", - "subtask_index": 7 - }, - { - "subtask": "Grasp the coffee on the white lid with the right gripper", - "subtask_index": 8 - }, - { - "subtask": "null", - "subtask_index": 9 - } + "operation_platform_height": 77.2, + "frame_range": "0-57085", + "dataset_size": "877.6MB", + "statistics": { + "total_episodes": 98, + "total_frames": 57085, + "total_tasks": 1, + "total_videos": 294, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "3ea12ae6-b4f3-453d-b56f-bca0e5a346c8", + "language": [ + "en", + "zh" ], - "atomic_actions": [ - "grasp", - "pick", - "place" + "task_categories": [ + "robotics" ], - "robot_name": [ - "Airbot_MMK2" + "sub_tasks": [ + "Put the picked-up object on the table.", + "Grab the rolling spherical object.", + "Grab the spherical object with your left arm.", + "Place the sphere on the white object.", + "null" ], - "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": 86, - "total_frames": 17345, - "fps": 30, - "total_tasks": 10, - "total_videos": 344, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "570.83 MB" - }, - "frame_num": 17345, - "dataset_size": "570.83 MB", - "data_structure": "Airbot_MMK2_take_drink_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| `-- ... (74 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": "0:85" - }, - "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" - } + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" }, - "Cobot_Magic_place_square_pyramid": { - "path": "Cobot_Magic_place_square_pyramid", - "dataset_name": "place_square_pyramid", + "Cobot_Magic_open_the_shoebox": { + "path": "Cobot_Magic_open_the_shoebox", + "dataset_name": "open_the_shoebox", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -23828,10 +23380,9 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pull" ], - "tasks": "Place the block onto the cube-shaped block", + "tasks": "Open the shoe box", "objects": [ { "object_name": "table", @@ -23842,35 +23393,27 @@ "level5": null }, { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "square_pyramid", - "level1": "toy", - "level2": "square_pyramid", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-25851", - "dataset_size": "521.2MB", + "frame_range": "0-185740", + "dataset_size": "2.8GB", "statistics": { - "total_episodes": 99, - "total_frames": 25851, - "total_tasks": 1, - "total_videos": 297, + "total_episodes": 299, + "total_frames": 185740, + "total_tasks": 3, + "total_videos": 897, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "53a89b6b-14be-4a0e-8495-f3310b2ba5bd", + "dataset_uuid": "1708df8d-97e4-42b0-a8ee-de1bb93b4d77", "language": [ "en", "zh" @@ -23879,10 +23422,7 @@ "robotics" ], "sub_tasks": [ - "Place the block onto the cube-shaped block", - "Place the triangular block onto the cube block", - "End", - "Grasp the triangular block", + "Open the shoe box", "null" ], "annotations": { @@ -23920,12 +23460,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_open_the_shoebox_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 └── (...)" }, - "alpha_bot_2_carry_the_clothes_basket": { - "path": "alpha_bot_2_carry_the_clothes_basket", - "dataset_name": "carry_the_clothes_basket", + "RMC-AIDA-L_pour_rice": { + "path": "RMC-AIDA-L_pour_rice", + "dataset_name": "pour_rice", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -23934,32 +23474,57 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pour" ], - "tasks": "Move the basket above the other table", + "tasks": "Pick up the cup with rice in it with the left gripper", "objects": [ { - "object_name": "clothes_basket", + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rice", + "level1": "food", + "level2": "rice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grain_cup", "level1": "container", - "level2": "clothes_basket", + "level2": "grain_cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rice_cooker", + "level1": "home_appliances", + "level2": "rice_cooker", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-46527", - "dataset_size": "2.5GB", + "operation_platform_height": 77.2, + "frame_range": "0-413739", + "dataset_size": "2.9GB", "statistics": { - "total_episodes": 50, - "total_frames": 46527, - "total_tasks": 1, - "total_videos": 200, + "total_episodes": 714, + "total_frames": 413739, + "total_tasks": 2, + "total_videos": 2142, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "0df48917-c10a-469f-8f74-d57f284c09cd", + "dataset_uuid": "c79b49bf-cadf-4094-831d-bbf6403956c6", "language": [ "en", "zh" @@ -23968,14 +23533,21 @@ "robotics" ], "sub_tasks": [ - "Move the basket above the other table", - "Grasp the basket with both grippers", - "Grasp the basket with left gripper", - "Grasp the basket with right gripper", + "Pick up the cup with rice in it with the left gripper", "End", - "Place the basket on the table with right gripper", - "Place the basket on the table with both grippers", - "Place the basket on the table with left gripper", + "Move the bowl in the center of view with left gripper", + "Pick up the bowl with the left gripper", + "Place the cup on the table with the right gripper", + "Pour the rice from the cup into the bowl with the left gripper", + "Place the bowl in the center of view with the right gripper", + "Static", + "Place the cup on the table with the left gripper", + "Pour the rice from the cup into the bowl with the right gripper", + "Pick up the cup with rice in it with the right gripper", + "Pick up the bowl with the right gripper", + "Place the bowl in the center of view with the left gripper", + "Grasp the cup with rice in it with right gripper", + "abnormal", "null" ], "annotations": { @@ -24013,12 +23585,12 @@ ], "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": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_place_the_basin": { - "path": "AIRBOT_MMK2_place_the_basin", - "dataset_name": "place_the_basin", + "AIRBOT_MMK2_bowl_storage_pepper": { + "path": "AIRBOT_MMK2_bowl_storage_pepper", + "dataset_name": "bowl_storage_pepper", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -24029,7 +23601,7 @@ "pick", "place" ], - "tasks": "Static", + "tasks": "Place the white bowl on the pink bowl with the left gripper", "objects": [ { "object_name": "table", @@ -24040,27 +23612,43 @@ "level5": null }, { - "object_name": "basin", + "object_name": "chili_pepper", + "level1": "vegetables", + "level2": "chili_pepper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", "level1": "container", - "level2": "basin", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pumpkin", + "level1": "vegetables", + "level2": "pumpkin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-7672", - "dataset_size": "272.9MB", + "frame_range": "0-19594", + "dataset_size": "715.7MB", "statistics": { - "total_episodes": 50, - "total_frames": 7672, - "total_tasks": 1, - "total_videos": 200, + "total_episodes": 150, + "total_frames": 19594, + "total_tasks": 3, + "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "14a514fa-2a43-4b79-bcf6-c7d01e427623", + "dataset_uuid": "83f67fd9-c480-4786-ae1d-41475a4f4618", "language": [ "en", "zh" @@ -24069,15 +23657,15 @@ "robotics" ], "sub_tasks": [ + "Place the white bowl on the pink bowl with the left gripper", + "Grasp the white bowl with the left gripper", "Static", - "Place the basin on the table with the right gripper", - "Grasp the basin with the right gripper", "End", - "Lift the basin with the left gripper ", - "Grasp the basin with the left gripper ", - "Lift the basin with the right gripper", - "Place the basin on the table with the left gripper ", "Abnormal", + "Grasp the pumpkin with the left gripper", + "Place the pumpkin on the pink bowl with the left gripper", + "Grasp the yellow round chili pepper with the right gripper", + "Place yellow round chili pepper on the blue bowl with the right gripper", "null" ], "annotations": { @@ -24115,22 +23703,23 @@ ], "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_place_the_basin_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_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_bowl_storage_pepper_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_bowl_storage_pepper_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 └── (...)" }, - "G1edu-u3_basket_storage_apple_b": { - "path": "G1edu-u3_basket_storage_apple_b", - "dataset_name": "basket_storage_apple_b", + "R1_Lite_move_the_position_of_the_cookie": { + "path": "R1_Lite_move_the_position_of_the_cookie", + "dataset_name": "move_the_position_of_the_cookie", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ + "place", "pick", - "place" + "grasp" ], - "tasks": "End", + "tasks": "Place the cookie on the table with right gripper", "objects": [ { "object_name": "table", @@ -24141,444 +23730,411 @@ "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", "level3": null, "level4": null, "level5": null }, { - "object_name": "apple", + "object_name": "banana", "level1": "fruit", - "level2": "apple", + "level2": "banana", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-118352", - "dataset_size": "2.3GB", - "statistics": { - "total_episodes": 241, - "total_frames": 118352, - "total_tasks": 1, - "total_videos": 723, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the grapes in the plate with left hand", - "Grasp the grapes with left hand", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_basket_storage_apple_b_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_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_basket_storage_apple_b_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_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_i": { - "path": "leju_robot_moving_parts_i", - "dataset_name": "moving_parts_i", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Move to the initial position of the workbench.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "bowl", + "level1": "container", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-229727", - "dataset_size": "14.0GB", - "statistics": { - "total_episodes": 155, - "total_frames": 229727, - "total_tasks": 1, - "total_videos": 465, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "c8b01b9f-9806-4a5a-a895-01df2cac436f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Move to the initial position of the workbench.", - "Grasp the gray part with right gripper", - "Insert the small component into the corresponding slot on the workbench.", - "Move to the table behind body", - "Grasp the white part with right gripper", - "Place the gray part on the table with right gripper", - "Place the white part on the table with right gripper", - "End", - "Pick up the small component from the shelf.", - "Bring the small component to the front of the workbench.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_tableware_arrangement": { - "path": "R1_Lite_tableware_arrangement", - "dataset_name": "tableware_arrangement", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Put the chopsticks back from the plate", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "can", + "level1": "container", + "level2": "can", "level3": null, "level4": null, "level5": null }, { - "object_name": "chopsticks", - "level1": "tableware", - "level2": "chopsticks", + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", "level3": null, "level4": null, "level5": null }, { - "object_name": "lunch_box", - "level1": "container", - "level2": "lunch_box", + "object_name": "block", + "level1": "toy", + "level2": "block", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-16015", - "dataset_size": "628.5MB", - "statistics": { - "total_episodes": 8, - "total_frames": 16015, - "total_tasks": 1, - "total_videos": 24, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "85abe0d0-6c0a-432a-9dd0-14e2ca009399", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Put the chopsticks back from the plate", - "Put the bowl back from the plate", - "Put the spoon back from the bowl", - "Pick the chopsticks and place it on the plate", - "abnormal", - "Pick the bowl and place it on the plate", - "Pick the spoon and place it in the bowl", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_ad": { - "path": "leju_robot_hotel_services_ad", - "dataset_name": "hotel_services_ad", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", - "level1": "home_storage", + "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "basket", + "level1": "container", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "cola", + "level1": "drink", + "level2": "cola", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-73346", - "dataset_size": "4.7GB", - "statistics": { - "total_episodes": 430, - "total_frames": 73346, - "total_tasks": 1, - "total_videos": 1290, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1bbfd926-a183-40a4-8649-0b9958b0ffcf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Take out the room card with right gripper", - "Hand the room card to the guest with right gripper", - "Hand the room card to the target.", - "Pick up the room card from the card holder.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", + }, + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-5045", + "dataset_size": "198.3MB", + "statistics": { + "total_episodes": 25, + "total_frames": 5045, + "total_tasks": 1, + "total_videos": 100, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "7015670f-e702-4c08-a662-e74aee0c0872", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the cookie on the table with right gripper", + "Static", + "Place the cookie on the table with left gripper", + "End", + "Grasp the cookie with right gripper", + "Grasp the cookie with left gripper", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_cookie_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_cookie_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_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 └── (...)" }, - "Agilex_Cobot_Magic_close_drawer_bottom": { + "Airbot_MMK2_move_tub": { "task_categories": [ "robotics" ], @@ -24608,11 +24164,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_close_drawer_bottom", + "dataset_name": "Airbot_MMK2_move_tub", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -24620,17 +24176,9 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "three_layer_transparent_drawer", - "level1": "laboratory_supplies", - "level2": "three_layer_transparent_drawer", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null @@ -24638,50 +24186,57 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "close the bottom drawer." + "pass the plate to your right hand with your left hand and then put it down." ], "sub_tasks": [ { - "subtask": "End", + "subtask": "Grasp the white box with left gripper", "subtask_index": 0 }, { - "subtask": "Use the right gripper to contact the bottom layer of the storage cabinet", + "subtask": "Place the white box in the center of table with right gripper", "subtask_index": 1 }, { - "subtask": "Push the bottom drawer closed", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "null", + "subtask": "Pass the white box to right gripper", "subtask_index": 3 + }, + { + "subtask": "null", + "subtask_index": 4 } ], "atomic_actions": [ "grasp", - "push" + "pick", + "place" ], "robot_name": [ - "Agilex_Cobot_Magic" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "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_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_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": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -24692,23 +24247,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 16270, + "total_episodes": 37, + "total_frames": 11634, "fps": 30, - "total_tasks": 4, - "total_videos": 150, + "total_tasks": 5, + "total_videos": 148, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "157.62 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "340.31 MB" }, - "frame_num": 16270, - "dataset_size": "157.62 MB", - "data_structure": "Agilex_Cobot_Magic_close_drawer_bottom_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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 11634, + "dataset_size": "340.31 MB", + "data_structure": "Airbot_MMK2_move_tub_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| `-- ... (25 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:49" + "train": "0:36" }, "features": { "observation.images.cam_head_rgb": { @@ -24780,10 +24335,33 @@ "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": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -24792,32 +24370,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "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": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -24826,26 +24414,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "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": { @@ -24885,17 +24483,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -24912,10 +24510,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -24932,130 +24530,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", "shape": [ 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -25077,11 +24615,11 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "G1edu-u3_pick_metal_bowl_ab": { - "path": "G1edu-u3_pick_metal_bowl_ab", - "dataset_name": "pick_metal_bowl_ab", + "G1edu-u3_put_the_lemon_af": { + "path": "G1edu-u3_put_the_lemon_af", + "dataset_name": "put_the_lemon_af", "robot_type": "", "end_effector_type": [ "three_finger_hand" @@ -25089,9 +24627,9 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick" + "place" ], - "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -25102,27 +24640,27 @@ "level5": null }, { - "object_name": "metal_bowl", - "level1": "bowl", - "level2": "metal_bowl", + "object_name": "lemon", + "level1": "fruits", + "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-11322", - "dataset_size": "158.4MB", + "frame_range": "0-3544", + "dataset_size": "37.1MB", "statistics": { - "total_episodes": 36, - "total_frames": 11322, + "total_episodes": 19, + "total_frames": 3544, "total_tasks": 1, - "total_videos": 36, + "total_videos": 19, "total_chunks": 1, - "chunks_size": 37, + "chunks_size": 19, "fps": 30 }, - "dataset_uuid": "988d81c9-a23a-4a67-9613-aed7fcecf7e3", + "dataset_uuid": "c37586ed-bc01-40b2-9038-cd26ce06df5b", "language": [ "en", "zh" @@ -25131,9 +24669,9 @@ "robotics" ], "sub_tasks": [ - "Grasp the metal bowl and lift it to the center of the view with left gripper", "End", - "Grasp the metal bowl and lift it to the center of the view with right gripper", + "Place the lemon on the table with right gripper", + "Place the lemon on the table with left gripper", "null" ], "annotations": { @@ -25171,664 +24709,140 @@ ], "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": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├─�� eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_remove_the_accessory": { - "path": "AgiBot-g1_remove_the_accessory", - "dataset_name": "remove_the_accessory", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_take_drink": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" + "language": [ + "en" ], - "tasks": "Place the hard drive bracket into the box.", - "objects": [ + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "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_drink", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "any_beverages", + "level1": "beverages", + "level2": "any_beverages", "level3": null, "level4": null, "level5": null }, { - "object_name": "accessories", - "level1": "industrial_parts", - "level2": "accessories", + "object_name": "paper_cup", + "level1": "cups", + "level2": "paper_cup", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-27353", - "dataset_size": "14.8GB", - "statistics": { - "total_episodes": 68, - "total_frames": 27353, - "total_tasks": 1, - "total_videos": 544, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "fcba76dc-2672-4dc1-9b8e-b375ede64077", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the drink by hand and put it on the table." ], "sub_tasks": [ - "Place the hard drive bracket into the box.", - "Pick up the hard drive bracket from the feeding area.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel_g": { - "path": "leju_robot_box_storage_parcel_g", - "dataset_name": "box_storage_parcel_g", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the package into the parcel locker.", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the coffee on the table with the left gripper", + "subtask_index": 0 }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the vitamin B water on the table with the left gripper", + "subtask_index": 1 }, { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 2 }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-182793", - "dataset_size": "9.4GB", - "statistics": { - "total_episodes": 492, - "total_frames": 182793, - "total_tasks": 1, - "total_videos": 1476, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1b130f08-2c4e-4724-ad03-8ecda43684fd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the package into the parcel locker.", - "Pick up the package from the inbound machine.", - "Pick up the package from the conveyor belt.", - "Place the package onto the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": { - "path": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food", - "dataset_name": "place_the_small_bowl_of_canned_food", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ + "subtask": "Place the vitamin B water on the table with the right gripper", + "subtask_index": 3 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the coffee on the table with the right gripper", + "subtask_index": 4 }, { - "object_name": "mini_table", - "level1": "furniture", - "level2": "mini_table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the vitamin B water on the white lid with the left gripper", + "subtask_index": 5 }, { - "object_name": "small_bowl_of_canned_food", - "level1": "food", - "level2": "small_bowl_of_canned_food", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-7610", - "dataset_size": "313.5MB", - "statistics": { - "total_episodes": 50, - "total_frames": 7610, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "a9c7e711-c375-4aa9-8ce2-93c6f016b80d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Abnormal", - "Place the small bowl of canned food on the table with the right gripper", - "Grasp the small bowl of canned food with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" - }, - "G1edu-u3_pullBowl_storage_bread_unordered_a": { - "path": "G1edu-u3_pullBowl_storage_bread_unordered_a", - "dataset_name": "pullBowl_storage_bread_unordered_a", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Abnormal", - "objects": [ + "subtask": "Grasp the vitamin B water on the white lid with the right gripper", + "subtask_index": 6 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 7 }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the coffee on the white lid with the right gripper", + "subtask_index": 8 }, { - "object_name": "towel", - "level1": "daily_necessities", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 9 } ], - "operation_platform_height": 77.2, - "frame_range": "0-158699", - "dataset_size": "3.3GB", - "statistics": { - "total_episodes": 188, - "total_frames": 158699, - "total_tasks": 1, - "total_videos": 564, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a49", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Abnormal", - "Place the long bread in pink bowl with left hand", - "End", - "Grasp the round bread with left hand", - "Grasp the long bread with left hand", - "Place the round bread in pink bowl with left hand", - "Move the pink bowl to the center of table with right hand", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_pick_crumpled_paper_aa": { - "path": "G1edu-u3_pick_crumpled_paper_aa", - "dataset_name": "pick_crumpled_paper_aa", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "paper", - "level1": "rubbish", - "level2": "paper", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-4485", - "dataset_size": "58.9MB", - "statistics": { - "total_episodes": 13, - "total_frames": 4485, - "total_tasks": 1, - "total_videos": 13, - "total_chunks": 1, - "chunks_size": 13, - "fps": 30 - }, - "dataset_uuid": "b6576ff7-68ba-498d-a50c-c97bad67554e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grasp the paper ball and lift it to the center of the view with right gripper  ", - "Grasp the paper ball and lift it to the center of the view with left gripper ", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Agilex_Cobot_Magic_erase_board_left_side": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_erase_board_left_side", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "education", - "level2": "school", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ - { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "whiteboard", - "level1": "stationery", - "level2": "whiteboard", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "red_whiteboard_Eraser", - "level1": "stationery", - "level2": "red_whiteboard_Eraser", - "level3": null, - "level4": null, - "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "wipe off the handwriting on the whiteboard." - ], - "sub_tasks": [ - { - "subtask": "Place the eraser with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Grasp the eraser with the left gripper", - "subtask_index": 1 - }, - { - "subtask": "End", - "subtask_index": 2 - }, - { - "subtask": "Grasp the eraser and wipe the blackboard with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "Place the eraser with the right gripper", - "subtask_index": 4 - }, - { - "subtask": "Grasp the eraser with the right gripper", - "subtask_index": 5 - }, - { - "subtask": "Grasp the eraser and wipe the blackboard with the left gripper", - "subtask_index": 6 - }, - { - "subtask": "null", - "subtask_index": 7 - } - ], - "atomic_actions": [ - "grasp", - "lift", - "lower", - "wipe" - ], - "robot_name": [ - "Agilex_Cobot_Magic" - ], - "end_effector_type": "two_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "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_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": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -25839,23 +24853,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 101, - "total_frames": 51478, + "total_episodes": 86, + "total_frames": 17345, "fps": 30, - "total_tasks": 8, - "total_videos": 303, + "total_tasks": 10, + "total_videos": 344, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "490.77 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "570.83 MB" }, - "frame_num": 51478, - "dataset_size": "490.77 MB", - "data_structure": "Agilex_Cobot_Magic_erase_board_left_side_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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.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| `-- ... (89 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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 17345, + "dataset_size": "570.83 MB", + "data_structure": "Airbot_MMK2_take_drink_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| `-- ... (74 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": "0:100" + "train": "0:85" }, "features": { "observation.images.cam_head_rgb": { @@ -25927,10 +24941,33 @@ "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": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -25939,32 +24976,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "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": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -25973,26 +25020,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "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": { @@ -26032,17 +25089,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -26059,10 +25116,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -26079,130 +25136,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", "shape": [ 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -26224,175 +25221,914 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Agilex_Cobot_Magic_storage_bread_basket": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" + "Cobot_Magic_place_square_pyramid": { + "path": "Cobot_Magic_place_square_pyramid", + "dataset_name": "place_square_pyramid", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "tags": [ - "RoboCOIN", - "LeRobot" + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_storage_bread_basket", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "living_room", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ + "tasks": "Place the block onto the cube-shaped block", + "objects": [ { "object_name": "table", - "level1": "home_storage", + "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "small_yellow _basket", - "level1": "home_storage", - "level2": "small_yellow _basket", + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { - "object_name": "waffle", - "level1": "food", - "level2": "waffle", + "object_name": "square_pyramid", + "level1": "toy", + "level2": "square_pyramid", "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "Put the bakery in the basket." + "operation_platform_height": 77.2, + "frame_range": "0-25851", + "dataset_size": "521.2MB", + "statistics": { + "total_episodes": 99, + "total_frames": 25851, + "total_tasks": 1, + "total_videos": 297, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "53a89b6b-14be-4a0e-8495-f3310b2ba5bd", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ + "Place the block onto the cube-shaped block", + "Place the triangular block onto the cube block", + "End", + "Grasp the triangular block", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_place_square_pyramid_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 └── (...)" + }, + "alpha_bot_2_carry_the_clothes_basket": { + "path": "alpha_bot_2_carry_the_clothes_basket", + "dataset_name": "carry_the_clothes_basket", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Move the basket above the other table", + "objects": [ { - "subtask": "Abnormal", - "subtask_index": 0 - }, - { - "subtask": "Grasp the bread with right gripper", - "subtask_index": 1 - }, + "object_name": "clothes_basket", + "level1": "container", + "level2": "clothes_basket", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-46527", + "dataset_size": "2.5GB", + "statistics": { + "total_episodes": 50, + "total_frames": 46527, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "0df48917-c10a-469f-8f74-d57f284c09cd", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Move the basket above the other table", + "Grasp the basket with both grippers", + "Grasp the basket with left gripper", + "Grasp the basket with right gripper", + "End", + "Place the basket on the table with right gripper", + "Place the basket on the table with both grippers", + "Place the basket on the table with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_place_the_basin": { + "path": "AIRBOT_MMK2_place_the_basin", + "dataset_name": "place_the_basin", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Static", + "objects": [ { - "subtask": "End", - "subtask_index": 2 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the bread with left gripper", - "subtask_index": 3 - }, + "object_name": "basin", + "level1": "container", + "level2": "basin", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-7672", + "dataset_size": "272.9MB", + "statistics": { + "total_episodes": 50, + "total_frames": 7672, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "14a514fa-2a43-4b79-bcf6-c7d01e427623", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Static", + "Place the basin on the table with the right gripper", + "Grasp the basin with the right gripper", + "End", + "Lift the basin with the left gripper ", + "Grasp the basin with the left gripper ", + "Lift the basin with the right gripper", + "Place the basin on the table with the left gripper ", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_basin_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_place_the_basin_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 └── (...)" + }, + "G1edu-u3_basket_storage_apple_b": { + "path": "G1edu-u3_basket_storage_apple_b", + "dataset_name": "basket_storage_apple_b", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "pick", + "place" + ], + "tasks": "End", + "objects": [ { - "subtask": "Place the bread in the basket with right gripper", - "subtask_index": 4 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the bread in the basket with left gripper", - "subtask_index": 5 + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "grasp", - "lift", - "lower" + "operation_platform_height": null, + "frame_range": "0-118352", + "dataset_size": "2.3GB", + "statistics": { + "total_episodes": 241, + "total_frames": 118352, + "total_tasks": 1, + "total_videos": 723, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651", + "language": [ + "en", + "zh" ], - "robot_name": [ - "Agilex_Cobot_Magic" + "task_categories": [ + "robotics" ], - "end_effector_type": "two_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "sub_tasks": [ + "End", + "Place the grapes in the plate with left hand", + "Grasp the grapes with left hand", + "null" ], - "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" + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" + "data_schema": "G1edu-u3_basket_storage_apple_b_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_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_basket_storage_apple_b_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_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_i": { + "path": "leju_robot_moving_parts_i", + "dataset_name": "moving_parts_i", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], + "tasks": "Move to the initial position of the workbench.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-229727", + "dataset_size": "14.0GB", "statistics": { - "total_episodes": 98, - "total_frames": 32042, - "fps": 30, - "total_tasks": 7, - "total_videos": 294, + "total_episodes": 155, + "total_frames": 229727, + "total_tasks": 1, + "total_videos": 465, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "354.51 MB" - }, - "frame_num": 32042, - "dataset_size": "354.51 MB", - "data_structure": "Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/\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| `-- ... (86 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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:97" + "fps": 30 }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { + "dataset_uuid": "c8b01b9f-9806-4a5a-a895-01df2cac436f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Move to the initial position of the workbench.", + "Grasp the gray part with right gripper", + "Insert the small component into the corresponding slot on the workbench.", + "Move to the table behind body", + "Grasp the white part with right gripper", + "Place the gray part on the table with right gripper", + "Place the white part on the table with right gripper", + "End", + "Pick up the small component from the shelf.", + "Bring the small component to the front of the workbench.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├���─ episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_tableware_arrangement": { + "path": "R1_Lite_tableware_arrangement", + "dataset_name": "tableware_arrangement", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Put the chopsticks back from the plate", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chopsticks", + "level1": "tableware", + "level2": "chopsticks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lunch_box", + "level1": "container", + "level2": "lunch_box", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-16015", + "dataset_size": "628.5MB", + "statistics": { + "total_episodes": 8, + "total_frames": 16015, + "total_tasks": 1, + "total_videos": 24, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "85abe0d0-6c0a-432a-9dd0-14e2ca009399", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Put the chopsticks back from the plate", + "Put the bowl back from the plate", + "Put the spoon back from the bowl", + "Pick the chopsticks and place it on the plate", + "abnormal", + "Pick the bowl and place it on the plate", + "Pick the spoon and place it in the bowl", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_ad": { + "path": "leju_robot_hotel_services_ad", + "dataset_name": "hotel_services_ad", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-73346", + "dataset_size": "4.7GB", + "statistics": { + "total_episodes": 430, + "total_frames": 73346, + "total_tasks": 1, + "total_videos": 1290, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "1bbfd926-a183-40a4-8649-0b9958b0ffcf", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Take out the room card with right gripper", + "Hand the room card to the guest with right gripper", + "Hand the room card to the target.", + "Pick up the room card from the card holder.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_close_drawer_bottom": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_close_drawer_bottom", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office_workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "three_layer_transparent_drawer", + "level1": "laboratory_supplies", + "level2": "three_layer_transparent_drawer", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "close the bottom drawer." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Use the right gripper to contact the bottom layer of the storage cabinet", + "subtask_index": 1 + }, + { + "subtask": "Push the bottom drawer closed", + "subtask_index": 2 + }, + { + "subtask": "null", + "subtask_index": 3 + } + ], + "atomic_actions": [ + "grasp", + "push" + ], + "robot_name": [ + "Agilex_Cobot_Magic" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 50, + "total_frames": 16270, + "fps": 30, + "total_tasks": 4, + "total_videos": 150, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "157.62 MB" + }, + "frame_num": 16270, + "dataset_size": "157.62 MB", + "data_structure": "Agilex_Cobot_Magic_close_drawer_bottom_qced_hardlink/\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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "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", @@ -26554,17 +26290,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -26581,10 +26317,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -26601,110 +26337,110 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_state": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_open_scale_state": { "names": [ @@ -26748,20 +26484,19 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "alpha_bot_2_item_reversal": { - "path": "alpha_bot_2_item_reversal", - "dataset_name": "item_reversal", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "G1edu-u3_pick_metal_bowl_ab": { + "path": "G1edu-u3_pick_metal_bowl_ab", + "dataset_name": "pick_metal_bowl_ab", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pick" ], - "tasks": "Grasp the cup with left gripper", + "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", "objects": [ { "object_name": "table", @@ -26772,27 +26507,27 @@ "level5": null }, { - "object_name": "cup", - "level1": "kitchen_supplies", - "level2": "cup", + "object_name": "metal_bowl", + "level1": "bowl", + "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-82235", - "dataset_size": "2.1GB", + "frame_range": "0-11322", + "dataset_size": "158.4MB", "statistics": { - "total_episodes": 90, - "total_frames": 82235, + "total_episodes": 36, + "total_frames": 11322, "total_tasks": 1, - "total_videos": 360, + "total_videos": 36, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 37, "fps": 30 }, - "dataset_uuid": "aac569d8-dbc7-4128-a573-659adbe0ed51", + "dataset_uuid": "988d81c9-a23a-4a67-9613-aed7fcecf7e3", "language": [ "en", "zh" @@ -26801,10 +26536,9 @@ "robotics" ], "sub_tasks": [ - "Grasp the cup with left gripper", - "Place the cup on the table with right gripper", - "Pass the cup to the right gripper", + "Grasp the metal bowl and lift it to the center of the view with left gripper", "End", + "Grasp the metal bowl and lift it to the center of the view with right gripper", "null" ], "annotations": { @@ -26842,12 +26576,12 @@ ], "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": "alpha_bot_2_item_reversal_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_item_reversal_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_steamer_storage_dumpling": { - "path": "Cobot_Magic_steamer_storage_dumpling", - "dataset_name": "steamer_storage_dumpling", + "AgiBot-g1_remove_the_accessory": { + "path": "AgiBot-g1_remove_the_accessory", + "dataset_name": "remove_the_accessory", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -26855,10 +26589,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "use the left arm to put the dumpling into the steamer", + "tasks": "Place the hard drive bracket into the box.", "objects": [ { "object_name": "table", @@ -26869,43 +26603,35 @@ "level5": null }, { - "object_name": "dumplings", - "level1": "food", - "level2": "dumplings", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "box", + "level1": "container", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "steamer", - "level1": "container", - "level2": "steamer", + "object_name": "accessories", + "level1": "industrial_parts", + "level2": "accessories", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-417589", - "dataset_size": "19.8GB", + "operation_platform_height": null, + "frame_range": "0-27353", + "dataset_size": "14.8GB", "statistics": { - "total_episodes": 580, - "total_frames": 417589, - "total_tasks": 6, - "total_videos": 1740, + "total_episodes": 68, + "total_frames": 27353, + "total_tasks": 1, + "total_videos": 544, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5", + "dataset_uuid": "fcba76dc-2672-4dc1-9b8e-b375ede64077", "language": [ "en", "zh" @@ -26914,16 +26640,8 @@ "robotics" ], "sub_tasks": [ - "use the left arm to put the dumpling into the steamer", - "Abnormal", - "use the right arm to put the dumpling into the steamer", - "Grasp the dumpling with left gripper", - "End", - "Place the dumpling on the steamer with right gripper", - "use the left arm to grab a dumpling", - "Grasp the dumpling with right gripper", - "use the right arm to grab a dumpling", - "Place the dumpling on the steamer with left gripper", + "Place the hard drive bracket into the box.", + "Pick up the hard drive bracket from the feeding area.", "null" ], "annotations": { @@ -26961,23 +26679,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_plate_storaje_baozi": { - "path": "Cobot_Magic_plate_storaje_baozi", - "dataset_name": "plate_storaje_baozi", + "leju_robot_box_storage_parcel_g": { + "path": "leju_robot_box_storage_parcel_g", + "dataset_name": "box_storage_parcel_g", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Grasp the baozi on the steamer with left gripper", + "tasks": "Place the package into the parcel locker.", "objects": [ { "object_name": "table", @@ -26988,43 +26706,43 @@ "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", + "object_name": "parcel", + "level1": "container", + "level2": "parcel", "level3": null, "level4": null, "level5": null }, { - "object_name": "steamer", - "level1": "container", - "level2": "steamer", + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-261093", - "dataset_size": "12.3GB", + "frame_range": "0-182793", + "dataset_size": "9.4GB", "statistics": { - "total_episodes": 495, - "total_frames": 261093, - "total_tasks": 6, - "total_videos": 1485, + "total_episodes": 492, + "total_frames": 182793, + "total_tasks": 1, + "total_videos": 1476, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "749fc774-003a-487c-948b-b6fc7ad307e1", + "dataset_uuid": "1b130f08-2c4e-4724-ad03-8ecda43684fd", "language": [ "en", "zh" @@ -27033,22 +26751,10 @@ "robotics" ], "sub_tasks": [ - "Grasp the baozi on the steamer with left gripper", - "Abnormal", - "Place the yellow baozi on the plate with left gripper", - "Place the yellow baozi on the plate with right gripper", - "End", - "Grasp the dumpling with left gripper", - "use the left arm to grab the steamed stuffed bun that is closest to it", - "use the right arm to grab the steamed stuffed bun that is closest to it", - "use the right arm to put the steamed stuffed bun into the plate", - "Place the baozi on the plate with left gripper", - "Grasp the yellow baozi on the steamer with left gripper", - "use the left arm to put the steamed stuffed bun into the plate", - "Place the dumpling on the steamer with right gripper", - "Grasp the dumpling with right gripper", - "Grasp the yellow baozi on the steamer with right gripper", - "Place the dumpling on the steamer with left gripper", + "Place the package into the parcel locker.", + "Pick up the package from the inbound machine.", + "Pick up the package from the conveyor belt.", + "Place the package onto the inbound machine.", "null" ], "annotations": { @@ -27086,23 +26792,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_milk": { - "path": "R1_Lite_move_the_position_of_the_milk", - "dataset_name": "move_the_position_of_the_milk", + "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": { + "path": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food", + "dataset_name": "place_the_small_bowl_of_canned_food", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Grasp the wangzai milk with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -27113,710 +26819,819 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", + "object_name": "mini_table", + "level1": "furniture", + "level2": "mini_table", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", + "object_name": "small_bowl_of_canned_food", + "level1": "food", + "level2": "small_bowl_of_canned_food", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-7610", + "dataset_size": "313.5MB", + "statistics": { + "total_episodes": 50, + "total_frames": 7610, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "a9c7e711-c375-4aa9-8ce2-93c6f016b80d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Abnormal", + "Place the small bowl of canned food on the table with the right gripper", + "Grasp the small bowl of canned food with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" + }, + "G1edu-u3_pullBowl_storage_bread_unordered_a": { + "path": "G1edu-u3_pullBowl_storage_bread_unordered_a", + "dataset_name": "pullBowl_storage_bread_unordered_a", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Abnormal", + "objects": [ { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "towel", + "level1": "daily_necessities", + "level2": "towel", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-158699", + "dataset_size": "3.3GB", + "statistics": { + "total_episodes": 188, + "total_frames": 158699, + "total_tasks": 1, + "total_videos": 564, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a49", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Abnormal", + "Place the long bread in pink bowl with left hand", + "End", + "Grasp the round bread with left hand", + "Grasp the long bread with left hand", + "Place the round bread in pink bowl with left hand", + "Move the pink bowl to the center of table with right hand", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\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/\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/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_pick_crumpled_paper_aa": { + "path": "G1edu-u3_pick_crumpled_paper_aa", + "dataset_name": "pick_crumpled_paper_aa", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick" + ], + "tasks": "End", + "objects": [ { - "object_name": "can", - "level1": "container", - "level2": "can", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", + "object_name": "paper", + "level1": "rubbish", + "level2": "paper", "level3": null, "level4": null, "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-4485", + "dataset_size": "58.9MB", + "statistics": { + "total_episodes": 13, + "total_frames": 4485, + "total_tasks": 1, + "total_videos": 13, + "total_chunks": 1, + "chunks_size": 13, + "fps": 30 + }, + "dataset_uuid": "b6576ff7-68ba-498d-a50c-c97bad67554e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the paper ball and lift it to the center of the view with right gripper  ", + "Grasp the paper ball and lift it to the center of the view with left gripper ", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_erase_board_left_side": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_erase_board_left_side", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "education", + "level2": "school", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", + "object_name": "whiteboard", + "level1": "stationery", + "level2": "whiteboard", "level3": null, "level4": null, "level5": null }, { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", + "object_name": "red_whiteboard_Eraser", + "level1": "stationery", + "level2": "red_whiteboard_Eraser", "level3": null, "level4": null, "level5": null - }, + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "wipe off the handwriting on the whiteboard." + ], + "sub_tasks": [ { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the eraser with the left gripper", + "subtask_index": 0 }, { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the eraser with the left gripper", + "subtask_index": 1 }, { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 2 }, { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the eraser and wipe the blackboard with the right gripper", + "subtask_index": 3 }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the eraser with the right gripper", + "subtask_index": 4 }, { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the eraser with the right gripper", + "subtask_index": 5 }, { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the eraser and wipe the blackboard with the left gripper", + "subtask_index": 6 }, { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 7 + } + ], + "atomic_actions": [ + "grasp", + "lift", + "lower", + "wipe" + ], + "robot_name": [ + "Agilex_Cobot_Magic" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 101, + "total_frames": 51478, + "fps": 30, + "total_tasks": 8, + "total_videos": 303, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "490.77 MB" + }, + "frame_num": 51478, + "dataset_size": "490.77 MB", + "data_structure": "Agilex_Cobot_Magic_erase_board_left_side_qced_hardlink/\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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.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| `-- ... (89 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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:100" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null + "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 + } }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "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 + } }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null + "subtask_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 5 + ] }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null + "scene_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 1 + ] }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-12898", - "dataset_size": "421.8MB", - "statistics": { - "total_episodes": 59, - "total_frames": 12898, - "total_tasks": 1, - "total_videos": 236, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "945013f7-9a63-4c59-af10-4ad4df23d67f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the wangzai milk with left gripper", - "Place the wangzai milk on the table with right gripper", - "Static", - "Place the wangzai milk on the table with left gripper", - "Grasp the wangzai milk with right gripper", - "End", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_milk_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_milk_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_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 └── (...)" - }, - "R1_Lite_place_the_dress_shirt_on_the_hanger": { - "path": "R1_Lite_place_the_dress_shirt_on_the_hanger", - "dataset_name": "place_the_dress_shirt_on_the_hanger", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "abnormal", - "objects": [ - { - "object_name": "hanger", - "level1": "furniture", - "level2": "hanger", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "shirt", - "level1": "clothing", - "level2": "shirt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bed", - "level1": "furniture", - "level2": "bed", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-120516", - "dataset_size": "7.1GB", - "statistics": { - "total_episodes": 103, - "total_frames": 120516, - "total_tasks": 1, - "total_videos": 309, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "99bbe00a-c986-419f-b64a-51eef829a3b8", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "abnormal", - "Hook the other side of the shirt onto the hanger", - "Hook one side of the shirt onto the hanger", - "Lift the shirt and hanger", - "Take the clothes hanger out of the clothes", - "Place the hanger on the bed", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_place_the_dress_shirt_on_the_hanger_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 └── (...)" - }, - "R1_Lite_take_and_put_away_garden_stuff_a": { - "path": "R1_Lite_take_and_put_away_garden_stuff_a", - "dataset_name": "take_and_put_away_garden_stuff_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "pull", - "push" - ], - "tasks": "Grasp the apple and place it on the table with right gripper", - "objects": [ - { - "object_name": "refrigerator", - "level1": "furniture", - "level2": "refrigerator", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "drawer", - "level1": "container", - "level2": "drawer", - "level3": null, - "level4": null, - "level5": null + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "tray", - "level1": "container", - "level2": "tray", - "level3": null, - "level4": null, - "level5": null + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "potato", - "level1": "food", - "level2": "potato", - "level3": null, - "level4": null, - "level5": null + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "green_pepper", - "level1": "food", - "level2": "green_pepper", - "level3": null, - "level4": null, - "level5": null + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "pumpkin", - "level1": "food", - "level2": "pumpkin", - "level3": null, - "level4": null, - "level5": null + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "apple", - "level1": "food", - "level2": "apple", - "level3": null, - "level4": null, - "level5": null + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] }, - { - "object_name": "orange", - "level1": "food", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] } - ], - "operation_platform_height": null, - "frame_range": "0-355644", - "dataset_size": "15.9GB", - "statistics": { - "total_episodes": 148, - "total_frames": 355644, - "total_tasks": 1, - "total_videos": 444, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "7c763184-bc85-4d7e-b01b-85ba85cbb6f2", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the apple and place it on the table with right gripper", - "Place the green bell pepper in the lower drawer with right gripper", - "Put green pepper in the refrigerator drawer", - "Place the orange in the lower drawer with right gripper", - "Place the potato in the lower drawer with left gripper", - "Take out the potato and place it on the table", - "Open the refrigerator door with left gripper", - "Place the potato in the lower drawer with right gripper", - "Take out the apple and place it on the tray", - "Open the refrigerator door", - "End", - "Close the refrigerator door", - "Close the lower drawer with the left gripper", - "Grasp the potato and place it on the table with left gripper", - "Open the lower refrigerator drawer", - "Close the middle refrigerator door with the right gripper", - "Place the apple in the lower drawer with right gripper", - "Put orange in the refrigerator drawer", - "Abnormal", - "Put pumpkin in the refrigerator drawer", - "Grasp the potato and place it on the table with right gripper", - "Close the lower refrigerator drawer", - "Place the green bell pepper in the lower drawer with left gripper", - "Put apple in the refrigerator drawer", - "Take out the pumpkin and place it on the table", - "Close the lower drawer with the right gripper", - "Grasp the orange and place it on the table with right gripper", - "Put potato in the refrigerator drawer", - "Take out the green pepper and place it on the table", - "Take out the orange and place it on the tray", - "Grasp the green bell pepper and place it on the table with right gripper", - "Take out the apple and place it on the table", - "Open the lower drawer 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" }, "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": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Galaxea_R1_Lite_arrange_baai_then_brain": { + "Agilex_Cobot_Magic_storage_bread_basket": { "task_categories": [ "robotics" ], @@ -27846,11 +27661,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_arrange_baai_then_brain", + "dataset_name": "Agilex_Cobot_Magic_storage_bread_basket", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "eduction", - "level2": "school", + "level1": "household", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -27858,87 +27673,89 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "early_education_toys", - "level1": "buiding_blocks", - "level2": "early_education_toys", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, - "level5:operation_platform_height": 77.2 - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "use the gripper to find blocks with the letters b, a, a, and i on the table and arrange them into BAAI, then find r and N and turn the arranged baai into brian." - ], - "sub_tasks": [ - { - "subtask": "Abnormal", - "subtask_index": 0 + "level5": null }, { - "subtask": "Place the second block A in the third location", - "subtask_index": 1 + "object_name": "small_yellow _basket", + "level1": "home_storage", + "level2": "small_yellow _basket", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the block I in the fourth location", - "subtask_index": 2 - }, + "object_name": "waffle", + "level1": "food", + "level2": "waffle", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "Put the bakery in the basket." + ], + "sub_tasks": [ { - "subtask": "Place the first block A in the second location", - "subtask_index": 3 + "subtask": "Abnormal", + "subtask_index": 0 }, { - "subtask": "Place the block B in the first location", - "subtask_index": 4 + "subtask": "Grasp the bread with right gripper", + "subtask_index": 1 }, { "subtask": "End", - "subtask_index": 5 + "subtask_index": 2 }, { - "subtask": "Move the block A out of the second location", - "subtask_index": 6 + "subtask": "Grasp the bread with left gripper", + "subtask_index": 3 }, { - "subtask": "Place the block N in the fifth location", - "subtask_index": 7 + "subtask": "Place the bread in the basket with right gripper", + "subtask_index": 4 }, { - "subtask": "Place the block R in the second location", - "subtask_index": 8 + "subtask": "Place the bread in the basket with left gripper", + "subtask_index": 5 }, { "subtask": "null", - "subtask_index": 9 + "subtask_index": 6 } ], "atomic_actions": [ "grasp", - "pick", - "place" + "lift", + "lower" ], "robot_name": [ - "Galaxea_R1_Lite" + "Agilex_Cobot_Magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", "cam_right_wrist_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -27949,53 +27766,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 56, - "total_frames": 44471, + "total_episodes": 98, + "total_frames": 32042, "fps": 30, - "total_tasks": 10, - "total_videos": 224, + "total_tasks": 7, + "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "1.26 GB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "354.51 MB" }, - "frame_num": 44471, - "dataset_size": "1.26 GB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_arrange_baai_then_brain_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| `-- ... (44 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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 32042, + "dataset_size": "354.51 MB", + "data_structure": "Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:55" + "train": "0:97" }, "features": { - "observation.images.cam_head_left_rgb": { - "dtype": "video", - "shape": [ - 720, - 1280, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 720, - "video.width": 1280, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -28004,8 +27798,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -28017,7 +27811,7 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -28027,7 +27821,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -28040,7 +27834,7 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -28050,7 +27844,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -28063,7 +27857,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -28072,20 +27866,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -28094,14 +27900,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -28253,26 +28071,6 @@ ], "dtype": "int32" }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, "gripper_mode_state": { "names": [ "left_gripper_mode", @@ -28312,6 +28110,26 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -28333,535 +28151,363 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Agilex_Cobot_Magic_open_drawer_bottom": { + "alpha_bot_2_item_reversal": { + "path": "alpha_bot_2_item_reversal", + "dataset_name": "item_reversal", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the cup with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "kitchen_supplies", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-82235", + "dataset_size": "2.1GB", + "statistics": { + "total_episodes": 90, + "total_frames": 82235, + "total_tasks": 1, + "total_videos": 360, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "aac569d8-dbc7-4128-a573-659adbe0ed51", + "language": [ + "en", + "zh" + ], "task_categories": [ "robotics" ], - "language": [ - "en" + "sub_tasks": [ + "Grasp the cup with left gripper", + "Place the cup on the table with right gripper", + "Pass the cup to 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" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "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": "alpha_bot_2_item_reversal_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_item_reversal_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_chest_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_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.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 └── (...)" + }, + "Cobot_Magic_steamer_storage_dumpling": { + "path": "Cobot_Magic_steamer_storage_dumpling", + "dataset_name": "steamer_storage_dumpling", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_open_drawer_bottom", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "office_workspace", - "level2": "office", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "use the left arm to put the dumpling into the steamer", "objects": [ { "object_name": "table", - "level1": "home_storage", + "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "three_layer_transparent_drawer", - "level1": "laboratory_supplies", - "level2": "three_layer_transparent_drawer", + "object_name": "dumplings", + "level1": "food", + "level2": "dumplings", "level3": null, "level4": null, "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "open the bottom drawer." - ], - "sub_tasks": [ - { - "subtask": "end", - "subtask_index": 0 }, { - "subtask": "Pull open the drawer with the left gripper", - "subtask_index": 1 + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Abnormal", - "subtask_index": 2 - }, + "object_name": "steamer", + "level1": "container", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-417589", + "dataset_size": "19.8GB", + "statistics": { + "total_episodes": 580, + "total_frames": 417589, + "total_tasks": 6, + "total_videos": 1740, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "use the left arm to put the dumpling into the steamer", + "Abnormal", + "use the right arm to put the dumpling into the steamer", + "Grasp the dumpling with left gripper", + "End", + "Place the dumpling on the steamer with right gripper", + "use the left arm to grab a dumpling", + "Grasp the dumpling with right gripper", + "use the right arm to grab a dumpling", + "Place the dumpling on the steamer with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ���── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_plate_storaje_baozi": { + "path": "Cobot_Magic_plate_storaje_baozi", + "dataset_name": "plate_storaje_baozi", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Grasp the baozi on the steamer with left gripper", + "objects": [ { - "subtask": "Grab the bottom drawer with the right gripper", - "subtask_index": 3 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Pull open the drawer with the right gripper", - "subtask_index": 4 + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grab the bottom drawer with the left gripper", - "subtask_index": 5 + "object_name": "baozi", + "level1": "food", + "level2": "baozi", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 + "object_name": "steamer", + "level1": "container", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "grasp", - "pull" - ], - "robot_name": [ - "Agilex_Cobot_Magic" - ], - "end_effector_type": "two_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" - ], + "operation_platform_height": null, + "frame_range": "0-261093", + "dataset_size": "12.3GB", "statistics": { - "total_episodes": 50, - "total_frames": 18620, - "fps": 30, - "total_tasks": 7, - "total_videos": 150, + "total_episodes": 495, + "total_frames": 261093, + "total_tasks": 6, + "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "182.16 MB" - }, - "frame_num": 18620, - "dataset_size": "182.16 MB", - "data_structure": "Agilex_Cobot_Magic_open_drawer_bottom_qced_hardlink/\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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:49" + "fps": 30 }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 26 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 26 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" - ] - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "subtask_annotation": { - "names": null, - "dtype": "int32", - "shape": [ - 5 - ] - }, - "scene_annotation": { - "names": null, - "dtype": "int32", - "shape": [ - 1 - ] - }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "dtype": "float32", - "shape": [ - 12 - ] - }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "dtype": "float32", - "shape": [ - 12 - ] - }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - } + "dataset_uuid": "749fc774-003a-487c-948b-b6fc7ad307e1", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the baozi on the steamer with left gripper", + "Abnormal", + "Place the yellow baozi on the plate with left gripper", + "Place the yellow baozi on the plate with right gripper", + "End", + "Grasp the dumpling with left gripper", + "use the left arm to grab the steamed stuffed bun that is closest to it", + "use the right arm to grab the steamed stuffed bun that is closest to it", + "use the right arm to put the steamed stuffed bun into the plate", + "Place the baozi on the plate with left gripper", + "Grasp the yellow baozi on the steamer with left gripper", + "use the left arm to put the steamed stuffed bun into the plate", + "Place the dumpling on the steamer with right gripper", + "Grasp the dumpling with right gripper", + "Grasp the yellow baozi on the steamer with right gripper", + "Place the dumpling on the steamer with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├─��� eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_clean_up_the_tableware": { - "path": "Cobot_Magic_clean_up_the_tableware", - "dataset_name": "clean_up_the_tableware", + "R1_Lite_move_the_position_of_the_milk": { + "path": "R1_Lite_move_the_position_of_the_milk", + "dataset_name": "move_the_position_of_the_milk", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", + "place", "pick", - "place" + "grasp" ], - "tasks": "use the left arm to grab a blue teacup", + "tasks": "Grasp the wangzai milk with left gripper", "objects": [ { "object_name": "table", @@ -28872,17 +28518,33 @@ "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", "level3": null, "level4": null, "level5": null @@ -28896,35 +28558,315 @@ "level5": null }, { - "object_name": "cup", + "object_name": "can", "level1": "container", - "level2": "cup", + "level2": "can", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-18127", - "dataset_size": "1.0GB", - "statistics": { - "total_episodes": 33, - "total_frames": 18127, - "total_tasks": 1, - "total_videos": 99, + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-12898", + "dataset_size": "421.8MB", + "statistics": { + "total_episodes": 59, + "total_frames": 12898, + "total_tasks": 1, + "total_videos": 236, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ad865471-39ce-4343-92f4-8dcc8ed48830", + "dataset_uuid": "945013f7-9a63-4c59-af10-4ad4df23d67f", "language": [ "en", "zh" @@ -28933,33 +28875,13 @@ "robotics" ], "sub_tasks": [ - "use the left arm to grab a blue teacup", - "Grasp the bowl with the left gripper", - "use the right arm to grab a blue rice bowl", - "Place the bowl on the plate with the left gripper", - "use the left arm to put the blue soup spoon into the blue teacup in the middle", - "Grasp the spoon with the left gripper", - "Place the spoon on the cup with the left gripper", - "use the right arm to put the blue soup spoon on the blue large plate in the middle", - "use the left arm to put the blue teacup into the blue rice bowl in the middle", - "Grasp the cup with the left gripper", - "use the right arm to put the blue soup spoon into the blue teacup in the middle", - "use the right arm to put the blue teacup into the blue rice bowl in the middle", - "use the left arm to grab a blue rice bowl", - "use the right arm to grab a blue teacup", - "Place the spoon on the cup with the right gripper", - "use the right arm to put the blue rice bowl into the blue large plate in the middle", - "abnormal", - "Grasp the cup with the right gripper", - "use the right arm to grab a blue soup spoon", - "Grasp the bowl with the right gripper", - "Grasp the spoon with the right gripper", - "Place the cup on the bowl with the right gripper", - "Place the cup on the bowl with the left gripper", - "use the left arm to grab a blue soup spoon", + "Grasp the wangzai milk with left gripper", + "Place the wangzai milk on the table with right gripper", + "Static", + "Place the wangzai milk on the table with left gripper", + "Grasp the wangzai milk with right gripper", "End", - "Place the bowl on the plate with the right gripper", - "use the left arm to put the blue rice bowl into the blue large plate in the middle", + "Abnormal", "null" ], "annotations": { @@ -28997,126 +28919,429 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_milk_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_milk_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_take_toy_car": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "R1_Lite_place_the_dress_shirt_on_the_hanger": { + "path": "R1_Lite_place_the_dress_shirt_on_the_hanger", + "dataset_name": "place_the_dress_shirt_on_the_hanger", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "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_toy_car", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "other", - "level2": "laboratory", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "tasks": "abnormal", "objects": [ { - "object_name": "toy_car", - "level1": "doll", - "level2": "toy_car", + "object_name": "hanger", + "level1": "furniture", + "level2": "hanger", "level3": null, "level4": null, "level5": null }, { - "object_name": "white_small_plate", - "level1": "plates", - "level2": "white_small_plate", + "object_name": "shirt", + "level1": "clothing", + "level2": "shirt", "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 toy car out of the plate by hand and place it on the table." - ], - "sub_tasks": [ - { - "subtask": "Grasp the toy car on the plate and with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Grasp the toy car on the plate and with the right gripper", - "subtask_index": 1 - }, - { - "subtask": "Abnormal", - "subtask_index": 2 - }, - { - "subtask": "End", - "subtask_index": 3 - }, - { - "subtask": "Place the toy car on the table with the right gripper", - "subtask_index": 4 }, { - "subtask": "Place the toy car on the table with the left gripper", - "subtask_index": 5 + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 + "object_name": "bed", + "level1": "furniture", + "level2": "bed", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "grasp", - "pick", - "place" + "operation_platform_height": null, + "frame_range": "0-120516", + "dataset_size": "7.1GB", + "statistics": { + "total_episodes": 103, + "total_frames": 120516, + "total_tasks": 1, + "total_videos": 309, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "99bbe00a-c986-419f-b64a-51eef829a3b8", + "language": [ + "en", + "zh" ], - "robot_name": [ - "Airbot_MMK2" + "task_categories": [ + "robotics" ], - "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" + "sub_tasks": [ + "abnormal", + "Hook the other side of the shirt onto the hanger", + "Hook one side of the shirt onto the hanger", + "Lift the shirt and hanger", + "Take the clothes hanger out of the clothes", + "Place the hanger on the bed", + "null" ], - "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" + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", + "data_schema": "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_place_the_dress_shirt_on_the_hanger_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 └── (...)" + }, + "R1_Lite_take_and_put_away_garden_stuff_a": { + "path": "R1_Lite_take_and_put_away_garden_stuff_a", + "dataset_name": "take_and_put_away_garden_stuff_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "pull", + "push" + ], + "tasks": "Grasp the apple and place it on the table with right gripper", + "objects": [ + { + "object_name": "refrigerator", + "level1": "furniture", + "level2": "refrigerator", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "drawer", + "level1": "container", + "level2": "drawer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tray", + "level1": "container", + "level2": "tray", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "potato", + "level1": "food", + "level2": "potato", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "green_pepper", + "level1": "food", + "level2": "green_pepper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pumpkin", + "level1": "food", + "level2": "pumpkin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "food", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "food", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-355644", + "dataset_size": "15.9GB", + "statistics": { + "total_episodes": 148, + "total_frames": 355644, + "total_tasks": 1, + "total_videos": 444, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "7c763184-bc85-4d7e-b01b-85ba85cbb6f2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the apple and place it on the table with right gripper", + "Place the green bell pepper in the lower drawer with right gripper", + "Put green pepper in the refrigerator drawer", + "Place the orange in the lower drawer with right gripper", + "Place the potato in the lower drawer with left gripper", + "Take out the potato and place it on the table", + "Open the refrigerator door with left gripper", + "Place the potato in the lower drawer with right gripper", + "Take out the apple and place it on the tray", + "Open the refrigerator door", + "End", + "Close the refrigerator door", + "Close the lower drawer with the left gripper", + "Grasp the potato and place it on the table with left gripper", + "Open the lower refrigerator drawer", + "Close the middle refrigerator door with the right gripper", + "Place the apple in the lower drawer with right gripper", + "Put orange in the refrigerator drawer", + "Abnormal", + "Put pumpkin in the refrigerator drawer", + "Grasp the potato and place it on the table with right gripper", + "Close the lower refrigerator drawer", + "Place the green bell pepper in the lower drawer with left gripper", + "Put apple in the refrigerator drawer", + "Take out the pumpkin and place it on the table", + "Close the lower drawer with the right gripper", + "Grasp the orange and place it on the table with right gripper", + "Put potato in the refrigerator drawer", + "Take out the green pepper and place it on the table", + "Take out the orange and place it on the tray", + "Grasp the green bell pepper and place it on the table with right gripper", + "Take out the apple and place it on the table", + "Open the lower drawer 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" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_arrange_baai_then_brain": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_arrange_baai_then_brain", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "eduction", + "level2": "school", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "early_education_toys", + "level1": "buiding_blocks", + "level2": "early_education_toys", + "level3": null, + "level4": null, + "level5:operation_platform_height": 77.2 + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use the gripper to find blocks with the letters b, a, a, and i on the table and arrange them into BAAI, then find r and N and turn the arranged baai into brian." + ], + "sub_tasks": [ + { + "subtask": "Abnormal", + "subtask_index": 0 + }, + { + "subtask": "Place the second block A in the third location", + "subtask_index": 1 + }, + { + "subtask": "Place the block I in the fourth location", + "subtask_index": 2 + }, + { + "subtask": "Place the first block A in the second location", + "subtask_index": 3 + }, + { + "subtask": "Place the block B in the first location", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Move the block A out of the second location", + "subtask_index": 6 + }, + { + "subtask": "Place the block N in the fifth location", + "subtask_index": 7 + }, + { + "subtask": "Place the block R in the second location", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Galaxea_R1_Lite" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_left_rgb", + "cam_head_right_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", + "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", "end_rotation_dim": "end_rotation_dim", "end_translation_dim": "end_translation_dim", "annotations": [ @@ -29129,30 +29354,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 49, - "total_frames": 14333, + "total_episodes": 56, + "total_frames": 44471, "fps": 30, - "total_tasks": 7, - "total_videos": 196, + "total_tasks": 10, + "total_videos": 224, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, + "state_dim": 14, + "action_dim": 14, "camera_views": 4, - "dataset_size": "457.72 MB" + "dataset_size": "1.26 GB" }, - "frame_num": 14333, - "dataset_size": "457.72 MB", - "data_structure": "Airbot_MMK2_take_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| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 44471, + "dataset_size": "1.26 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_arrange_baai_then_brain_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| `-- ... (44 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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:48" + "train": "0:55" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -29161,8 +29386,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -29171,11 +29396,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -29184,8 +29409,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -29194,10 +29419,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -29207,7 +29432,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -29217,10 +29442,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -29230,7 +29455,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -29243,7 +29468,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -29258,36 +29483,14 @@ "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" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -29302,30 +29505,8 @@ "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" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -29476,6 +29657,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -29497,481 +29738,527 @@ "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" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "G1edu-u3_pick_up_the_bread_az": { - "path": "G1edu-u3_pick_up_the_bread_az", - "dataset_name": "pick_up_the_bread_az", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" + "Agilex_Cobot_Magic_open_drawer_bottom": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_open_drawer_bottom", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office_workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "bowl", - "level1": "bowl", - "level2": "bowl", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", + "object_name": "three_layer_transparent_drawer", + "level1": "laboratory_supplies", + "level2": "three_layer_transparent_drawer", "level3": null, "level4": null, "level5": null - }, + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "open the bottom drawer." + ], + "sub_tasks": [ { - "object_name": "grape", - "level1": "fruits", - "level2": "grape", - "level3": null, - "level4": null, - "level5": null + "subtask": "end", + "subtask_index": 0 }, { - "object_name": "orange", - "level1": "fruits", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pull open the drawer with the left gripper", + "subtask_index": 1 }, { - "object_name": "pear", - "level1": "fruits", - "level2": "pear", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 2 }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-14542", - "dataset_size": "169.7MB", - "statistics": { - "total_episodes": 26, - "total_frames": 14542, - "total_tasks": 1, - "total_videos": 26, - "total_chunks": 1, - "chunks_size": 27, - "fps": 30 - }, - "dataset_uuid": "95b46832-04a8-4073-b033-dbe0d38fe742", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grasp the long bread and lift it to the center of the view with left gripper", - "Grasp the long bread and lift it to the center of the view with right gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_move_beverage": { - "path": "Cobot_Magic_move_beverage", - "dataset_name": "move_beverage", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grab the bottom drawer with the right gripper", + "subtask_index": 3 }, { - "object_name": "green_bottle_beverage", - "level1": "drink", - "level2": "green_bottle_beverage", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pull open the drawer with the right gripper", + "subtask_index": 4 }, { - "object_name": "red_bottle_beverage", - "level1": "drink", - "level2": "red_bottle_beverage", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grab the bottom drawer with the left gripper", + "subtask_index": 5 }, { - "object_name": "black_bottle_beverage", - "level1": "drink", - "level2": "black_bottle_beverage", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 6 } ], - "operation_platform_height": 77.2, - "frame_range": "0-31813", - "dataset_size": "636.5MB", - "statistics": { - "total_episodes": 100, - "total_frames": 31813, - "total_tasks": 1, - "total_videos": 300, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pull" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Agilex_Cobot_Magic" ], - "sub_tasks": [ - "End", - "Grasp the beverage bottle placed at the back of the desk", - "Place the drink at the front of the table", - "Pick up the drink", - "Place the beverage bottle to the front of the table", - "null" + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "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" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_beverage_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 └── (...)" - }, - "R1_Lite_put_the_shoes_into_the_shoe_box": { - "path": "R1_Lite_put_the_shoes_into_the_shoe_box", - "dataset_name": "put_the_shoes_into_the_shoe_box", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Put the shoes out of the shoe box", - "objects": [ - { - "object_name": "shoes", - "level1": "clothing", - "level2": "shoes", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "shoe_box", - "level1": "container", - "level2": "shoe_box", - "level3": null, - "level4": null, - "level5": null - } + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" ], - "operation_platform_height": null, - "frame_range": "0-87219", - "dataset_size": "3.8GB", "statistics": { - "total_episodes": 106, - "total_frames": 87219, - "total_tasks": 1, - "total_videos": 318, + "total_episodes": 50, + "total_frames": 18620, + "fps": 30, + "total_tasks": 7, + "total_videos": 150, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "182.16 MB" }, - "dataset_uuid": "87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Put the shoes out of the shoe box", - "abnormal", - "Put the shoes into the shoe box", - "Open the shoe box", - "Close the shoe box", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "frame_num": 18620, + "dataset_size": "182.16 MB", + "data_structure": "Agilex_Cobot_Magic_open_drawer_bottom_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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "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 } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + }, + "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 } - ] - }, - "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": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" - }, - "G1edu-u3_put_the_tissue_box_al": { - "path": "G1edu-u3_put_the_tissue_box_al", - "dataset_name": "put_the_tissue_box_al", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "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 + } }, - { - "object_name": "tissue", - "level1": "daily_necessities", - "level2": "tissue", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-10816", - "dataset_size": "142.3MB", - "statistics": { - "total_episodes": 39, - "total_frames": 10816, - "total_tasks": 1, - "total_videos": 39, - "total_chunks": 1, - "chunks_size": 41, - "fps": 30 - }, - "dataset_uuid": "39aeb43d-8473-408d-a61d-bdd24134ab9a", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the tissue box on the table with both 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" + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 5 + ] + }, + "scene_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 1 + ] + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + } }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "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": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "leju_robot_box_storage_parcel_i": { - "path": "leju_robot_box_storage_parcel_i", - "dataset_name": "box_storage_parcel_i", + "Cobot_Magic_clean_up_the_tableware": { + "path": "Cobot_Magic_clean_up_the_tableware", + "dataset_name": "clean_up_the_tableware", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -29979,7 +30266,7 @@ "pick", "place" ], - "tasks": "Pick up the bottle from the table.", + "tasks": "use the left arm to grab a blue teacup", "objects": [ { "object_name": "table", @@ -29990,43 +30277,59 @@ "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "bowl", + "level1": "container", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "parcel", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", "level1": "container", - "level2": "parcel", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-313461", - "dataset_size": "19.3GB", + "operation_platform_height": 77.2, + "frame_range": "0-18127", + "dataset_size": "1.0GB", "statistics": { - "total_episodes": 222, - "total_frames": 313461, + "total_episodes": 33, + "total_frames": 18127, "total_tasks": 1, - "total_videos": 666, + "total_videos": 99, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "6e0f6aaf-d447-436f-bfc3-bedd5a1bce04", + "dataset_uuid": "ad865471-39ce-4343-92f4-8dcc8ed48830", "language": [ "en", "zh" @@ -30035,9 +30338,33 @@ "robotics" ], "sub_tasks": [ - "Pick up the bottle from the table.", - "Flip the bottle to face forward.", - "Take the bottle from the table.", + "use the left arm to grab a blue teacup", + "Grasp the bowl with the left gripper", + "use the right arm to grab a blue rice bowl", + "Place the bowl on the plate with the left gripper", + "use the left arm to put the blue soup spoon into the blue teacup in the middle", + "Grasp the spoon with the left gripper", + "Place the spoon on the cup with the left gripper", + "use the right arm to put the blue soup spoon on the blue large plate in the middle", + "use the left arm to put the blue teacup into the blue rice bowl in the middle", + "Grasp the cup with the left gripper", + "use the right arm to put the blue soup spoon into the blue teacup in the middle", + "use the right arm to put the blue teacup into the blue rice bowl in the middle", + "use the left arm to grab a blue rice bowl", + "use the right arm to grab a blue teacup", + "Place the spoon on the cup with the right gripper", + "use the right arm to put the blue rice bowl into the blue large plate in the middle", + "abnormal", + "Grasp the cup with the right gripper", + "use the right arm to grab a blue soup spoon", + "Grasp the bowl with the right gripper", + "Grasp the spoon with the right gripper", + "Place the cup on the bowl with the right gripper", + "Place the cup on the bowl with the left gripper", + "use the left arm to grab a blue soup spoon", + "End", + "Place the bowl on the plate with the right gripper", + "use the left arm to put the blue rice bowl into the blue large plate in the middle", "null" ], "annotations": { @@ -30075,10 +30402,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├���─ observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_shark_doll": { + "Airbot_MMK2_take_toy_car": { "task_categories": [ "robotics" ], @@ -30108,11 +30435,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_shark_doll", + "dataset_name": "Airbot_MMK2_take_toy_car", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", + "level1": "other", + "level2": "laboratory", "level3": null, "level4": null, "level5": null @@ -30120,25 +30447,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "shark_doll", - "level1": "toys", - "level2": "shark_doll", + "object_name": "toy_car", + "level1": "doll", + "level2": "toy_car", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", - "level1": "laboratory_supplies", - "level2": "lid", + "object_name": "white_small_plate", + "level1": "plates", + "level2": "white_small_plate", "level3": null, "level4": null, "level5": null @@ -30146,19 +30465,19 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the shark doll and put it in the lid." + "take the toy car out of the plate by hand and place it on the table." ], "sub_tasks": [ { - "subtask": "Place the whale on the white lid with the right gripper", + "subtask": "Grasp the toy car on the plate and with the left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the whale with the left gripper", + "subtask": "Grasp the toy car on the plate and with the right gripper", "subtask_index": 1 }, { - "subtask": "Deliver the whale from left gripper to right gripper", + "subtask": "Abnormal", "subtask_index": 2 }, { @@ -30166,14 +30485,22 @@ "subtask_index": 3 }, { - "subtask": "null", + "subtask": "Place the toy car on the table with the right gripper", "subtask_index": 4 + }, + { + "subtask": "Place the toy car on the table with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 } ], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], "robot_name": [ "Airbot_MMK2" @@ -30207,23 +30534,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 93, - "total_frames": 13034, + "total_episodes": 49, + "total_frames": 14333, "fps": 30, - "total_tasks": 5, - "total_videos": 372, + "total_tasks": 7, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "461.32 MB" + "dataset_size": "457.72 MB" }, - "frame_num": 13034, - "dataset_size": "461.32 MB", - "data_structure": "Airbot_MMK2_storage_shark_doll_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 14333, + "dataset_size": "457.72 MB", + "data_structure": "Airbot_MMK2_take_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| `-- ... (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": "0:92" + "train": "0:48" }, "features": { "observation.images.cam_head_rgb": { @@ -30577,12 +30904,12 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_storage_plate": { - "path": "Cobot_Magic_storage_plate", - "dataset_name": "storage_plate", + "G1edu-u3_pick_up_the_bread_az": { + "path": "G1edu-u3_pick_up_the_bread_az", + "dataset_name": "pick_up_the_bread_az", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -30590,7 +30917,7 @@ "pick", "place" ], - "tasks": "Left grab the white plate.", + "tasks": "End", "objects": [ { "object_name": "table", @@ -30601,43 +30928,83 @@ "level5": null }, { - "object_name": "rack", - "level1": "furniture", - "level2": "rack", + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "bread", + "level1": "food", + "level2": "bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, + "object_name": "bowl", + "level1": "bowl", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grape", + "level1": "fruits", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruits", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pear", + "level1": "fruits", + "level2": "pear", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-57019", - "dataset_size": "903.4MB", + "operation_platform_height": null, + "frame_range": "0-14542", + "dataset_size": "169.7MB", "statistics": { - "total_episodes": 84, - "total_frames": 57019, + "total_episodes": 26, + "total_frames": 14542, "total_tasks": 1, - "total_videos": 252, + "total_videos": 26, "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 + "chunks_size": 27, + "fps": 30 }, - "dataset_uuid": "9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf", + "dataset_uuid": "95b46832-04a8-4073-b033-dbe0d38fe742", "language": [ "en", "zh" @@ -30646,20 +31013,10 @@ "robotics" ], "sub_tasks": [ - "Left grab the white plate.", - "Left grab the gray plate.", - "Place the plate on the rack", - "Right place it at the front of the shelf.", - "Right receive the plate.", - "Pick up the plate from the table", - "Left lift the plate.", - "end", - "Left grab the blue plate.", - "Left grab the yellow plate.", - "Hand over the plate", - "Right place it at the back of the shelf.", - "Left grab the pink plate.", - "Left grab the green plate.", + "End", + "Grasp the long bread and lift it to the center of the view with left gripper", + "Grasp the long bread and lift it to the center of the view with right gripper", + "Abnormal", "null" ], "annotations": { @@ -30697,12 +31054,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_storage_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_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_storage_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_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Tianqin_A2_place_the_paper_box": { - "path": "Tianqin_A2_place_the_paper_box", - "dataset_name": "place_the_paper_box", + "Cobot_Magic_move_beverage": { + "path": "Cobot_Magic_move_beverage", + "dataset_name": "move_beverage", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -30724,27 +31081,43 @@ "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "green_bottle_beverage", + "level1": "drink", + "level2": "green_bottle_beverage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_bottle_beverage", + "level1": "drink", + "level2": "red_bottle_beverage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "black_bottle_beverage", + "level1": "drink", + "level2": "black_bottle_beverage", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-94841", - "dataset_size": "3.0GB", + "operation_platform_height": 77.2, + "frame_range": "0-31813", + "dataset_size": "636.5MB", "statistics": { - "total_episodes": 236, - "total_frames": 94841, + "total_episodes": 100, + "total_frames": 31813, "total_tasks": 1, - "total_videos": 708, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "291007f6-cfd0-4e23-bc97-da01c0f367ac", + "dataset_uuid": "b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed", "language": [ "en", "zh" @@ -30754,11 +31127,10 @@ ], "sub_tasks": [ "End", - "Abnormal", - "Grasp the paper box", - "Place the paper box on the table", - "Place the data cable in the another box", - "Grasp the data cable", + "Grasp the beverage bottle placed at the back of the desk", + "Place the drink at the front of the table", + "Pick up the drink", + "Place the beverage bottle to the front of the table", "null" ], "annotations": { @@ -30796,12 +31168,12 @@ ], "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": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ���── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_beverage_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 └── (...)" }, - "Split_aloha_wipe_the_table": { - "path": "Split_aloha_wipe_the_table", - "dataset_name": "wipe_the_table", + "R1_Lite_put_the_shoes_into_the_shoe_box": { + "path": "R1_Lite_put_the_shoes_into_the_shoe_box", + "dataset_name": "put_the_shoes_into_the_shoe_box", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -30809,58 +31181,41 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", "pick", - "wipe" + "place" ], - "tasks": "Stand the paper cup upright", + "tasks": "Put the shoes out of the shoe box", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rag", + "object_name": "shoes", "level1": "clothing", - "level2": "rag", + "level2": "shoes", "level3": null, "level4": null, "level5": null }, { - "object_name": "stain", - "level1": "garbage", - "level2": "stain", + "object_name": "shoe_box", + "level1": "container", + "level2": "shoe_box", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-166266", - "dataset_size": "1.3GB", + "operation_platform_height": null, + "frame_range": "0-87219", + "dataset_size": "3.8GB", "statistics": { - "total_episodes": 302, - "total_frames": 166266, - "total_tasks": 3, - "total_videos": 906, + "total_episodes": 106, + "total_frames": 87219, + "total_tasks": 1, + "total_videos": 318, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c5648c51-14f0-4d84-a3cc-2fd1c28069a8", + "dataset_uuid": "87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9", "language": [ "en", "zh" @@ -30869,8 +31224,11 @@ "robotics" ], "sub_tasks": [ - "Stand the paper cup upright", - "Wipe the stains off the table with a rag", + "Put the shoes out of the shoe box", + "abnormal", + "Put the shoes into the shoe box", + "Open the shoe box", + "Close the shoe box", "null" ], "annotations": { @@ -30908,24 +31266,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" }, - "RMC-AIDA-L_food_packaging": { - "path": "RMC-AIDA-L_food_packaging", - "dataset_name": "food_packaging", + "G1edu-u3_put_the_tissue_box_al": { + "path": "G1edu-u3_put_the_tissue_box_al", + "dataset_name": "put_the_tissue_box_al", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place", - "pull" + "place" ], - "tasks": "Grab the pear with your right hand.", + "tasks": "End", "objects": [ { "object_name": "table", @@ -30936,67 +31292,35 @@ "level5": null }, { - "object_name": "bag", - "level1": "container", - "level2": "bag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lunch_box", - "level1": "container", - "level2": "lunch_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cucumber", - "level1": "vegetable", - "level2": "cucumber", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pear", - "level1": "fruit", - "level2": "pear", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", + "object_name": "tissue", + "level1": "daily_necessities", + "level2": "tissue", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-817652", - "dataset_size": "9.4GB", + "operation_platform_height": null, + "frame_range": "0-10816", + "dataset_size": "142.3MB", "statistics": { - "total_episodes": 497, - "total_frames": 817652, - "total_tasks": 2, - "total_videos": 1491, + "total_episodes": 39, + "total_frames": 10816, + "total_tasks": 1, + "total_videos": 39, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 41, "fps": 30 }, - "dataset_uuid": "59eb8786-4e0e-4c5e-b129-aec36ec1eda9", + "dataset_uuid": "39aeb43d-8473-408d-a61d-bdd24134ab9a", "language": [ "en", "zh" @@ -31005,21 +31329,8 @@ "robotics" ], "sub_tasks": [ - "Grab the pear with your right hand.", - "Pick up the lunch box with your right hand.", - "end", - "Put the cucumber into the lunch bag with your right hand.", - "Hold the lunch bag with your left hand.", - "Secure the lunch bag with your left hand.", - "Pick up the cucumber with your right hand.", - "Hold the lunch bag with your right hand.", - "Take the banana with your right hand.", - "Place the lunch box into the lunch bag with your right hand.", - "Place the peach into the lunch bag with your right hand.", - "Zip up the lunch bag with your right hand.", - "Put the banana into the lunch bag with your right hand.", - "Place the pear into the lunch bag with your right hand.", - "Grab the peach with your right hand.", + "End", + "Place the tissue box on the table with both gripper", "null" ], "annotations": { @@ -31057,15 +31368,15 @@ ], "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": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_tool_storage": { - "path": "AgiBot-g1_tool_storage", - "dataset_name": "tool_storage", + "leju_robot_box_storage_parcel_i": { + "path": "leju_robot_box_storage_parcel_i", + "dataset_name": "box_storage_parcel_i", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -31073,7 +31384,7 @@ "pick", "place" ], - "tasks": "Place the mouse and power cord into the box.", + "tasks": "Pick up the bottle from the table.", "objects": [ { "object_name": "table", @@ -31092,27 +31403,35 @@ "level5": null }, { - "object_name": "tools", - "level1": "tools", - "level2": "tools", + "object_name": "parcel", + "level1": "container", + "level2": "parcel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-30600", - "dataset_size": "13.5GB", + "frame_range": "0-313461", + "dataset_size": "19.3GB", "statistics": { - "total_episodes": 67, - "total_frames": 30600, + "total_episodes": 222, + "total_frames": 313461, "total_tasks": 1, - "total_videos": 536, + "total_videos": 666, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "4681c572-c9b2-475c-b9c1-66ed9f3d533d", + "dataset_uuid": "6e0f6aaf-d447-436f-bfc3-bedd5a1bce04", "language": [ "en", "zh" @@ -31121,8 +31440,9 @@ "robotics" ], "sub_tasks": [ - "Place the mouse and power cord into the box.", - "Grab and lift both the mouse and power cord from the accessory packaging area at the same time.", + "Pick up the bottle from the table.", + "Flip the bottle to face forward.", + "Take the bottle from the table.", "null" ], "annotations": { @@ -31160,10 +31480,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├─��� episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Realman_RMC-AIDA-L_storage_towel_basket": { + "Airbot_MMK2_storage_shark_doll": { "task_categories": [ "robotics" ], @@ -31193,11 +31513,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Realman_RMC-AIDA-L_storage_towel_basket", + "dataset_name": "Airbot_MMK2_storage_shark_doll", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "commercial_convenience", + "level2": "supermarket", "level3": null, "level4": null, "level5": null @@ -31206,24 +31526,24 @@ "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "shark_doll", + "level1": "toys", + "level2": "shark_doll", "level3": null, "level4": null, "level5": null }, { - "object_name": "towel", - "level1": "daily_necessities", - "level2": "towel", + "object_name": "lid", + "level1": "laboratory_supplies", + "level2": "lid", "level3": null, "level4": null, "level5": null @@ -31231,59 +31551,57 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "the left gripper grasp the basket on the table, the right grippe pick up the towel on the table and place it into the basket." + "pick up the shark doll and put it in the lid." ], "sub_tasks": [ { - "subtask": "Place the towel into the basket with the right gripper", + "subtask": "Place the whale on the white lid with the right gripper", "subtask_index": 0 }, { - "subtask": "Abnormal", + "subtask": "Grasp the whale with the left gripper", "subtask_index": 1 }, { - "subtask": "PIck up the basket with the left gripper", + "subtask": "Deliver the whale from left gripper to right gripper", "subtask_index": 2 }, { - "subtask": "PIck up the towel with the right gripper", + "subtask": "End", "subtask_index": 3 }, - { - "subtask": "end", - "subtask_index": 4 - }, { "subtask": "null", - "subtask_index": 5 + "subtask_index": 4 } ], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], "robot_name": [ - "Realman_RMC-AIDA-L" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "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_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_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": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -31294,23 +31612,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 118, - "total_frames": 58520, + "total_episodes": 93, + "total_frames": 13034, "fps": 30, - "total_tasks": 6, - "total_videos": 354, + "total_tasks": 5, + "total_videos": 372, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 28, - "action_dim": 28, - "camera_views": 3, - "dataset_size": "684.59 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "461.32 MB" }, - "frame_num": 58520, - "dataset_size": "684.59 MB", - "data_structure": "Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (106 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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 13034, + "dataset_size": "461.32 MB", + "data_structure": "Airbot_MMK2_storage_shark_doll_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:117" + "train": "0:92" }, "features": { "observation.images.cam_head_rgb": { @@ -31382,76 +31700,115 @@ "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": [ - 28 + 36 ], "names": [ - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "right_arm_joint_7_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad", "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_arm_joint_7_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad" + "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": [ - 28 + 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", - "right_arm_joint_7_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad", - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "left_arm_joint_7_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad" + "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": { @@ -31602,66 +31959,6 @@ 2 ], "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" } }, "authors": { @@ -31683,11 +31980,11 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_cap_the_pen_a": { - "path": "Cobot_Magic_cap_the_pen_a", - "dataset_name": "cap_the_pen_a", + "Cobot_Magic_storage_plate": { + "path": "Cobot_Magic_storage_plate", + "dataset_name": "storage_plate", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -31696,10 +31993,9 @@ "atomic_actions": [ "grasp", "pick", - "place", - "insert" + "place" ], - "tasks": "Secure the pen cap with the right hand.", + "tasks": "Left grab the white plate.", "objects": [ { "object_name": "table", @@ -31710,43 +32006,43 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", + "object_name": "rack", + "level1": "furniture", + "level2": "rack", "level3": null, "level4": null, "level5": null }, { - "object_name": "pen_cap", - "level1": "office_supplies", - "level2": "pen_cap", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-51317", - "dataset_size": "1.0GB", + "frame_range": "0-57019", + "dataset_size": "903.4MB", "statistics": { - "total_episodes": 55, - "total_frames": 51317, + "total_episodes": 84, + "total_frames": 57019, "total_tasks": 1, - "total_videos": 165, + "total_videos": 252, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, - "dataset_uuid": "b549e79c-e49e-4cec-a476-b94bdd766f22", + "dataset_uuid": "9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf", "language": [ "en", "zh" @@ -31755,22 +32051,20 @@ "robotics" ], "sub_tasks": [ - "Secure the pen cap with the right hand.", - "Insert the pen into the cap", - "End", - "Put the cap on the pen", - "Pick up the pen cap", - "Grab the pen barrel with the left hand.", - "Secure the pen cap with the left hand.", - "Grab the pen cap with the left hand.", - "Place the pen on the table", - "Abnormal", - "Grab the pen cap with the right hand.", - "Insert the pen cap with the right hand.", - "Grab the pen barrel with the right hand.", - "Pick up the pen", - "Place the pen down with the right hand.", - "Insert the pen cap with the left hand.", + "Left grab the white plate.", + "Left grab the gray plate.", + "Place the plate on the rack", + "Right place it at the front of the shelf.", + "Right receive the plate.", + "Pick up the plate from the table", + "Left lift the plate.", + "end", + "Left grab the blue plate.", + "Left grab the yellow plate.", + "Hand over the plate", + "Right place it at the back of the shelf.", + "Left grab the pink plate.", + "Left grab the green plate.", "null" ], "annotations": { @@ -31808,12 +32102,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├─�� eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_storage_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_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_storage_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_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Split_aloha_wipe_table": { - "path": "Split_aloha_wipe_table", - "dataset_name": "wipe_table", + "Tianqin_A2_place_the_paper_box": { + "path": "Tianqin_A2_place_the_paper_box", + "dataset_name": "place_the_paper_box", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -31821,11 +32115,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", "pick", - "wipe" + "place" ], - "tasks": "Grasp the rag with right gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -31836,43 +32129,27 @@ "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rag", - "level1": "clothing", - "level2": "rag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "stain", - "level1": "garbage", - "level2": "stain", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-106804", - "dataset_size": "1.3GB", + "operation_platform_height": null, + "frame_range": "0-94841", + "dataset_size": "3.0GB", "statistics": { - "total_episodes": 200, - "total_frames": 106804, + "total_episodes": 236, + "total_frames": 94841, "total_tasks": 1, - "total_videos": 600, + "total_videos": 708, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "18848f29-f6ff-4f8a-ab4d-acc67d812c64", + "dataset_uuid": "291007f6-cfd0-4e23-bc97-da01c0f367ac", "language": [ "en", "zh" @@ -31881,14 +32158,12 @@ "robotics" ], "sub_tasks": [ - "Grasp the rag with right gripper", - "Abnormal", - "Place the rag on the table with right gripper", - "Stand the paper cup upright with left gripper", "End", - "Static", - "Grasp the paper cup with left gripper", - "Wipe the stains off the table with the rag with right gripper", + "Abnormal", + "Grasp the paper box", + "Place the paper box on the table", + "Place the data cable in the another box", + "Grasp the data cable", "null" ], "annotations": { @@ -31926,12 +32201,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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 └── (...)" }, - "R1_Lite_pour_water": { - "path": "R1_Lite_pour_water", - "dataset_name": "pour_water", + "Split_aloha_wipe_the_table": { + "path": "Split_aloha_wipe_the_table", + "dataset_name": "wipe_the_table", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -31939,10 +32214,11 @@ "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick", - "place" + "wipe" ], - "tasks": "Pour water into the cup", + "tasks": "Stand the paper cup upright", "objects": [ { "object_name": "table", @@ -31953,43 +32229,43 @@ "level5": null }, { - "object_name": "water", - "level1": "drink", - "level2": "water", + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "kettle", - "level1": "electric_appliance", - "level2": "kettle", + "object_name": "rag", + "level1": "clothing", + "level2": "rag", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "stain", + "level1": "garbage", + "level2": "stain", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-53125", - "dataset_size": "2.0GB", + "operation_platform_height": 77.2, + "frame_range": "0-166266", + "dataset_size": "1.3GB", "statistics": { - "total_episodes": 51, - "total_frames": 53125, - "total_tasks": 1, - "total_videos": 153, + "total_episodes": 302, + "total_frames": 166266, + "total_tasks": 3, + "total_videos": 906, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "8b05bffb-745b-4de7-bbfa-113e42018671", + "dataset_uuid": "c5648c51-14f0-4d84-a3cc-2fd1c28069a8", "language": [ "en", "zh" @@ -31998,12 +32274,8 @@ "robotics" ], "sub_tasks": [ - "Pour water into the cup", - "Put the cup down on the table", - "Put down the kettle on the table", - "Pour water into another cup", - "Pick up the cup", - "Pick up the kettle", + "Stand the paper cup upright", + "Wipe the stains off the table with a rag", "null" ], "annotations": { @@ -32041,12 +32313,12 @@ ], "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": "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_wipe_the_table_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 └── (...)" }, - "Galbot_g1_steamer_storage_baozi_j": { - "path": "Galbot_g1_steamer_storage_baozi_j", - "dataset_name": "steamer_storage_baozi_j", + "RMC-AIDA-L_food_packaging": { + "path": "RMC-AIDA-L_food_packaging", + "dataset_name": "food_packaging", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -32055,9 +32327,10 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pull" ], - "tasks": "Place the pot lid on the table with left gripper", + "tasks": "Grab the pear with your right hand.", "objects": [ { "object_name": "table", @@ -32068,51 +32341,67 @@ "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", + "object_name": "bag", + "level1": "container", + "level2": "bag", "level3": null, "level4": null, "level5": null }, { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", + "object_name": "lunch_box", + "level1": "container", + "level2": "lunch_box", "level3": null, "level4": null, "level5": null }, { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", + "object_name": "cucumber", + "level1": "vegetable", + "level2": "cucumber", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "pear", + "level1": "fruit", + "level2": "pear", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-56015", - "dataset_size": "1.1GB", + "operation_platform_height": 77.2, + "frame_range": "0-817652", + "dataset_size": "9.4GB", "statistics": { - "total_episodes": 41, - "total_frames": 56015, - "total_tasks": 1, - "total_videos": 123, + "total_episodes": 497, + "total_frames": 817652, + "total_tasks": 2, + "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "b53dc50b-2b01-4783-900a-e0a8fa876a20", + "dataset_uuid": "59eb8786-4e0e-4c5e-b129-aec36ec1eda9", "language": [ "en", "zh" @@ -32121,16 +32410,21 @@ "robotics" ], "sub_tasks": [ - "Place the pot lid on the table with left gripper", - "Grasp the pot lid with left gripper", - "Place the pot lid on the steamer with left gripper", - "End", - "Move the switch to the right with left gripper", - "Place the baozi on the steamer with right gripper", - "Grasp the baozi with right gripper", - "Place the baozi on the plate with right gripper", - "Move the switch to the left with right gripper", - "Grasp the baozi in the plate with right gripper", + "Grab the pear with your right hand.", + "Pick up the lunch box with your right hand.", + "end", + "Put the cucumber into the lunch bag with your right hand.", + "Hold the lunch bag with your left hand.", + "Secure the lunch bag with your left hand.", + "Pick up the cucumber with your right hand.", + "Hold the lunch bag with your right hand.", + "Take the banana with your right hand.", + "Place the lunch box into the lunch bag with your right hand.", + "Place the peach into the lunch bag with your right hand.", + "Zip up the lunch bag with your right hand.", + "Put the banana into the lunch bag with your right hand.", + "Place the pear into the lunch bag with your right hand.", + "Grab the peach with your right hand.", "null" ], "annotations": { @@ -32168,23 +32462,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├─��� episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_picks_up_battery_b": { - "path": "AgiBot-g1_picks_up_battery_b", - "dataset_name": "picks_up_battery_b", + "AgiBot-g1_tool_storage": { + "path": "AgiBot-g1_tool_storage", + "dataset_name": "tool_storage", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Place the power supply on the operating table.", + "tasks": "Place the mouse and power cord into the box.", "objects": [ { "object_name": "table", @@ -32195,35 +32489,35 @@ "level5": null }, { - "object_name": "carton", - "level1": "tool", - "level2": "carton", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "battery", - "level1": "tool", - "level2": "battery", + "object_name": "tools", + "level1": "tools", + "level2": "tools", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-131840", - "dataset_size": "71.4GB", + "frame_range": "0-30600", + "dataset_size": "13.5GB", "statistics": { - "total_episodes": 329, - "total_frames": 131840, + "total_episodes": 67, + "total_frames": 30600, "total_tasks": 1, - "total_videos": 2632, + "total_videos": 536, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "69e28097-0f6e-4238-8562-b87280af0714", + "dataset_uuid": "4681c572-c9b2-475c-b9c1-66ed9f3d533d", "language": [ "en", "zh" @@ -32232,8 +32526,8 @@ "robotics" ], "sub_tasks": [ - "Place the power supply on the operating table.", - "Grab and lift the power supply from the large box.", + "Place the mouse and power cord into the box.", + "Grab and lift both the mouse and power cord from the accessory packaging area at the same time.", "null" ], "annotations": { @@ -32271,23 +32565,49 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_close_the_computer": { - "path": "AIRBOT_MMK2_close_the_computer", - "dataset_name": "close_the_computer", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + "Realman_RMC-AIDA-L_storage_towel_basket": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" + "language": [ + "en" ], - "tasks": "End", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Realman_RMC-AIDA-L_storage_towel_basket", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", @@ -32298,21 +32618,1106 @@ "level5": null }, { - "object_name": "computer", - "level1": "office_supplies", - "level2": "computer", + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "daily_necessities", + "level2": "towel", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-7754", - "dataset_size": "320.9MB", - "statistics": { - "total_episodes": 49, - "total_frames": 7754, - "total_tasks": 1, + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "the left gripper grasp the basket on the table, the right grippe pick up the towel on the table and place it into the basket." + ], + "sub_tasks": [ + { + "subtask": "Place the towel into the basket with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Abnormal", + "subtask_index": 1 + }, + { + "subtask": "PIck up the basket with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "PIck up the towel with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "end", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Realman_RMC-AIDA-L" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 118, + "total_frames": 58520, + "fps": 30, + "total_tasks": 6, + "total_videos": 354, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 28, + "action_dim": 28, + "camera_views": 3, + "dataset_size": "684.59 MB" + }, + "frame_num": 58520, + "dataset_size": "684.59 MB", + "data_structure": "Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/\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| `-- ... (106 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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:117" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 28 + ], + "names": [ + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_arm_joint_7_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad", + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_arm_joint_7_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 28 + ], + "names": [ + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_arm_joint_7_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad", + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_arm_joint_7_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Cobot_Magic_cap_the_pen_a": { + "path": "Cobot_Magic_cap_the_pen_a", + "dataset_name": "cap_the_pen_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "insert" + ], + "tasks": "Secure the pen cap with the right hand.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen_cap", + "level1": "office_supplies", + "level2": "pen_cap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-51317", + "dataset_size": "1.0GB", + "statistics": { + "total_episodes": 55, + "total_frames": 51317, + "total_tasks": 1, + "total_videos": 165, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "b549e79c-e49e-4cec-a476-b94bdd766f22", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Secure the pen cap with the right hand.", + "Insert the pen into the cap", + "End", + "Put the cap on the pen", + "Pick up the pen cap", + "Grab the pen barrel with the left hand.", + "Secure the pen cap with the left hand.", + "Grab the pen cap with the left hand.", + "Place the pen on the table", + "Abnormal", + "Grab the pen cap with the right hand.", + "Insert the pen cap with the right hand.", + "Grab the pen barrel with the right hand.", + "Pick up the pen", + "Place the pen down with the right hand.", + "Insert the pen cap with the left hand.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Split_aloha_wipe_table": { + "path": "Split_aloha_wipe_table", + "dataset_name": "wipe_table", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick", + "wipe" + ], + "tasks": "Grasp the rag with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rag", + "level1": "clothing", + "level2": "rag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "stain", + "level1": "garbage", + "level2": "stain", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-106804", + "dataset_size": "1.3GB", + "statistics": { + "total_episodes": 200, + "total_frames": 106804, + "total_tasks": 1, + "total_videos": 600, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "18848f29-f6ff-4f8a-ab4d-acc67d812c64", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the rag with right gripper", + "Abnormal", + "Place the rag on the table with right gripper", + "Stand the paper cup upright with left gripper", + "End", + "Static", + "Grasp the paper cup with left gripper", + "Wipe the stains off the table with the rag with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_wipe_table_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 └── (...)" + }, + "R1_Lite_pour_water": { + "path": "R1_Lite_pour_water", + "dataset_name": "pour_water", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pour water into the cup", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water", + "level1": "drink", + "level2": "water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "kettle", + "level1": "electric_appliance", + "level2": "kettle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-53125", + "dataset_size": "2.0GB", + "statistics": { + "total_episodes": 51, + "total_frames": 53125, + "total_tasks": 1, + "total_videos": 153, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "8b05bffb-745b-4de7-bbfa-113e42018671", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pour water into the cup", + "Put the cup down on the table", + "Put down the kettle on the table", + "Pour water into another cup", + "Pick up the cup", + "Pick up the kettle", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_pour_water_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 └── (...)" + }, + "Galbot_g1_steamer_storage_baozi_j": { + "path": "Galbot_g1_steamer_storage_baozi_j", + "dataset_name": "steamer_storage_baozi_j", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the pot lid on the table with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "baozi", + "level1": "food", + "level2": "baozi", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-56015", + "dataset_size": "1.1GB", + "statistics": { + "total_episodes": 41, + "total_frames": 56015, + "total_tasks": 1, + "total_videos": 123, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "b53dc50b-2b01-4783-900a-e0a8fa876a20", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the pot lid on the table with left gripper", + "Grasp the pot lid with left gripper", + "Place the pot lid on the steamer with left gripper", + "End", + "Move the switch to the right with left gripper", + "Place the baozi on the steamer with right gripper", + "Grasp the baozi with right gripper", + "Place the baozi on the plate with right gripper", + "Move the switch to the left with right gripper", + "Grasp the baozi in the plate with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_picks_up_battery_b": { + "path": "AgiBot-g1_picks_up_battery_b", + "dataset_name": "picks_up_battery_b", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Place the power supply on the operating table.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "carton", + "level1": "tool", + "level2": "carton", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "battery", + "level1": "tool", + "level2": "battery", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-131840", + "dataset_size": "71.4GB", + "statistics": { + "total_episodes": 329, + "total_frames": 131840, + "total_tasks": 1, + "total_videos": 2632, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "69e28097-0f6e-4238-8562-b87280af0714", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the power supply on the operating table.", + "Grab and lift the power supply from the large box.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_close_the_computer": { + "path": "AIRBOT_MMK2_close_the_computer", + "dataset_name": "close_the_computer", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "computer", + "level1": "office_supplies", + "level2": "computer", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-7754", + "dataset_size": "320.9MB", + "statistics": { + "total_episodes": 49, + "total_frames": 7754, + "total_tasks": 1, "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, @@ -42689,285 +44094,685 @@ "level4": null, "level5": null }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-9249", + "dataset_size": "344.7MB", + "statistics": { + "total_episodes": 31, + "total_frames": 9249, + "total_tasks": 1, + "total_videos": 124, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "bdee9310-93d0-4808-a0ad-4ca01b25ac9f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the long bread with right gripper", + "Grasp the long bread with left gripper", + "Place the long bread on the table with right gripper", + "Place the long bread on the table with left gripper", + "Abnormal", + "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" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├─�� episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_take_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", + "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": "baskets", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + }, + { + "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, + "fps": 30, + "total_tasks": 7, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "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 }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null + "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" }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null + "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" }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-9249", - "dataset_size": "344.7MB", - "statistics": { - "total_episodes": 31, - "total_frames": 9249, - "total_tasks": 1, - "total_videos": 124, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "bdee9310-93d0-4808-a0ad-4ca01b25ac9f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the long bread with right gripper", - "Grasp the long bread with left gripper", - "Place the long bread on the table with right gripper", - "Place the long bread on the table with left gripper", - "Abnormal", - "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" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_take_electronics": { - "path": "Airbot_MMK2_take_electronics", - "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", - "level3": null, - "level4": null, - "level5": null + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "paper_boxes", - "level1": "packaging", - "level2": "paper_boxes", - "level3": null, - "level4": null, - "level5": null + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" } - ], - "operation_platform_height": 77.2, - "frame_range": "0-13465", - "dataset_size": "399.8MB", - "statistics": { - "total_episodes": 49, - "total_frames": 13465, - "total_tasks": 1, - "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" }, "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, "Cobot_Magic_take_out_the_bread": { "path": "Cobot_Magic_take_out_the_bread", @@ -43914,121 +45719,13 @@ "zh" ], "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the package into the parcel locker.", - "Pick up the package from the inbound machine.", - "Pick up the package from the conveyor belt.", - "Place the package onto the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n ��� ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_swap_sponge_paper_box_plate": { - "path": "Airbot_MMK2_swap_sponge_paper_box_plate", - "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", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "paper_boxes", - "level1": "packaging", - "level2": "paper_boxes", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cleaning_sponge", - "level1": "daily_necessities", - "level2": "cleaning_sponge", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-8731", - "dataset_size": "272.1MB", - "statistics": { - "total_episodes": 50, - "total_frames": 8731, - "total_tasks": 1, - "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", + "robotics" + ], + "sub_tasks": [ + "Place the package into the parcel locker.", + "Pick up the package from the inbound machine.", + "Pick up the package from the conveyor belt.", + "Place the package onto the inbound machine.", "null" ], "annotations": { @@ -44066,8 +45763,519 @@ ], "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 └── (...)" + "data_schema": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_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", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "paper_boxes", + "level1": "home_storage", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cleaning_sponge", + "level1": "daily_necessities", + "level2": "cleaning_sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "take the sponge out of the plate with left hand and put the box in with right hand." + ], + "sub_tasks": [ + { + "subtask": "Place the sponge on the table with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the mouse box with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "Place the mouse box into the plate with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Grasp the sponge in the plate with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 50, + "total_frames": 8731, + "fps": 30, + "total_tasks": 8, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "272.24 MB" + }, + "frame_num": 8731, + "dataset_size": "272.24 MB", + "data_structure": "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, "AIRBOT_MMK2_storage_spoon": { "path": "AIRBOT_MMK2_storage_spoon", @@ -64754,43 +66962,458 @@ "level5": null }, { - "object_name": "chocolate", + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-6550", + "dataset_size": "212.3MB", + "statistics": { + "total_episodes": 23, + "total_frames": 6550, + "total_tasks": 1, + "total_videos": 92, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ab8d31a7-973b-4328-b3dc-f79488af764f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the spoon with right gripper", + "Grasp the spoon with left gripper", + "Place the spoon on the table with left gripper", + "Static", + "End", + "Place the spoon on the table with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_ac": { + "path": "leju_robot_hotel_services_ac", + "dataset_name": "hotel_services_ac", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the key card from the card box.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-73697", + "dataset_size": "4.7GB", + "statistics": { + "total_episodes": 431, + "total_frames": 73697, + "total_tasks": 1, + "total_videos": 1293, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ff64c171-6616-4c0a-9876-42719e539bbf", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the key card from the card box.", + "Hand the key card to the target.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_q": { + "path": "leju_robot_moving_parts_q", + "dataset_name": "moving_parts_q", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the black part on the table with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-756932", + "dataset_size": "51.9GB", + "statistics": { + "total_episodes": 494, + "total_frames": 756932, + "total_tasks": 1, + "total_videos": 1482, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "1632a2f6-2fac-45cf-b9d6-7088ebda0870", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the black part on the table with right gripper", + "Pick up the large material from the shelf.", + "Insert the large material into the corresponding slot on the workbench.", + "End", + "Grasp the black part with right gripper", + "Move the large material to the workbench.", + "Move to the initial position of the shelf.", + "Move to the table behind body", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├─��� episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_put_the_bread_aw": { + "path": "G1edu-u3_put_the_bread_aw", + "dataset_name": "put_the_bread_aw", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place" + ], + "tasks": "Place the long bread on the table with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", "level1": "food", - "level2": "chocolate", + "level2": "bread", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-5153", + "dataset_size": "65.2MB", + "statistics": { + "total_episodes": 26, + "total_frames": 5153, + "total_tasks": 1, + "total_videos": 26, + "total_chunks": 1, + "chunks_size": 26, + "fps": 30 + }, + "dataset_uuid": "e6db4b80-8fbb-4767-b613-734d0e088946", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the long bread on the table with left gripper", + "End", + "Place the long bread on the table with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_fold_towel_a": { + "path": "Cobot_Magic_fold_towel_a", + "dataset_name": "fold_towel_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "fold" + ], + "tasks": "pick up the towel with two arm", + "objects": [ { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "towel", + "level1": "clothing", + "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-6550", - "dataset_size": "212.3MB", + "frame_range": "0-50478", + "dataset_size": "1.7GB", "statistics": { - "total_episodes": 23, - "total_frames": 6550, + "total_episodes": 96, + "total_frames": 50478, "total_tasks": 1, - "total_videos": 92, + "total_videos": 288, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "ab8d31a7-973b-4328-b3dc-f79488af764f", + "dataset_uuid": "2d50475c-06c8-47bd-a56f-c0d235e1835a", "language": [ "en", "zh" @@ -64799,12 +67422,8 @@ "robotics" ], "sub_tasks": [ - "Grasp the spoon with right gripper", - "Grasp the spoon with left gripper", - "Place the spoon on the table with left gripper", - "Static", - "End", - "Place the spoon on the table with right gripper", + "pick up the towel with two arm", + "Fold the towel twice on the table", "null" ], "annotations": { @@ -64842,123 +67461,527 @@ ], "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": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_hotel_services_ac": { - "path": "leju_robot_hotel_services_ac", - "dataset_name": "hotel_services_ac", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + "Airbot_MMK2_storage_bowl_wet_wipes": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Pick up the key card from the card box.", + "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_bowl_wet_wipes", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + { + "object_name": "plastic_bowls", + "level1": "kitchen_supplies", + "level2": "plastic_bowls", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rectangular_plate", + "level1": "kitchen_supplies", + "level2": "rectangular_plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wet_tissue_paper", + "level1": "kitchen_supplies", + "level2": "wet_tissue_paper", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the bowl and wet wipes on the plate." + ], + "sub_tasks": [ + { + "subtask": "Place the wet wipes into the bowl with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the bowl on the plate with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Static", + "subtask_index": 2 + }, + { + "subtask": "Grasp the wet wipes with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Grasp the bowl 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": 13058, + "fps": 30, + "total_tasks": 7, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "425.41 MB" + }, + "frame_num": 13058, + "dataset_size": "425.41 MB", + "data_structure": "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" }, - { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" }, - { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null + "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" } - ], - "operation_platform_height": null, - "frame_range": "0-73697", - "dataset_size": "4.7GB", - "statistics": { - "total_episodes": 431, - "total_frames": 73697, - "total_tasks": 1, - "total_videos": 1293, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ff64c171-6616-4c0a-9876-42719e539bbf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the key card from the card box.", - "Hand the key card to the target.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "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": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "leju_robot_moving_parts_q": { - "path": "leju_robot_moving_parts_q", - "dataset_name": "moving_parts_q", + "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": { + "path": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge", + "dataset_name": "storage_box_for_mouse_and_sponge", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -64969,7 +67992,7 @@ "pick", "place" ], - "tasks": "Place the black part on the table with right gripper", + "tasks": "Grasp the sponge with the right gripper", "objects": [ { "object_name": "table", @@ -64980,232 +68003,43 @@ "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-756932", - "dataset_size": "51.9GB", - "statistics": { - "total_episodes": 494, - "total_frames": 756932, - "total_tasks": 1, - "total_videos": 1482, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1632a2f6-2fac-45cf-b9d6-7088ebda0870", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the black part on the table with right gripper", - "Pick up the large material from the shelf.", - "Insert the large material into the corresponding slot on the workbench.", - "End", - "Grasp the black part with right gripper", - "Move the large material to the workbench.", - "Move to the initial position of the shelf.", - "Move to the table behind body", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_put_the_bread_aw": { - "path": "G1edu-u3_put_the_bread_aw", - "dataset_name": "put_the_bread_aw", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" - ], - "tasks": "Place the long bread on the table with left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "mouse_box", + "level1": "container", + "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-5153", - "dataset_size": "65.2MB", - "statistics": { - "total_episodes": 26, - "total_frames": 5153, - "total_tasks": 1, - "total_videos": 26, - "total_chunks": 1, - "chunks_size": 26, - "fps": 30 - }, - "dataset_uuid": "e6db4b80-8fbb-4767-b613-734d0e088946", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the long bread on the table with left gripper", - "End", - "Place the long bread on the table with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_fold_towel_a": { - "path": "Cobot_Magic_fold_towel_a", - "dataset_name": "fold_towel_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "fold" - ], - "tasks": "pick up the towel with two arm", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "sponge", + "level1": "daily_necessities", + "level2": "sponge", "level3": null, "level4": null, "level5": null }, { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", + "object_name": "round_plate", + "level1": "container", + "level2": "round_plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-50478", - "dataset_size": "1.7GB", + "frame_range": "0-9471", + "dataset_size": "299.3MB", "statistics": { - "total_episodes": 96, - "total_frames": 50478, + "total_episodes": 49, + "total_frames": 9471, "total_tasks": 1, - "total_videos": 288, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "2d50475c-06c8-47bd-a56f-c0d235e1835a", + "dataset_uuid": "2c6237a9-4c9b-45ce-bd08-c48c42462c93", "language": [ "en", "zh" @@ -65214,8 +68048,13 @@ "robotics" ], "sub_tasks": [ - "pick up the towel with two arm", - "Fold the towel twice on the table", + "Grasp the sponge with the right gripper", + "Static", + "Place the box on the white plate with the left gripper", + "End", + "Abnormal", + "Place the sponge on the white plate with the right gripper", + "Grasp the box with the left gripper", "null" ], "annotations": { @@ -65253,10 +68092,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ���── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_bowl_wet_wipes": { + "Airbot_MMK2_storage_cup": { "task_categories": [ "robotics" ], @@ -65286,11 +68125,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_bowl_wet_wipes", + "dataset_name": "Airbot_MMK2_storage_cup", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -65298,33 +68137,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plastic_bowls", - "level1": "kitchen_supplies", - "level2": "plastic_bowls", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rectangular_plate", - "level1": "kitchen_supplies", - "level2": "rectangular_plate", + "object_name": "any_cup", + "level1": "cups", + "level2": "any_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "wet_tissue_paper", - "level1": "kitchen_supplies", - "level2": "wet_tissue_paper", + "object_name": "basin", + "level1": "storage_utensils", + "level2": "basin", "level3": null, "level4": null, "level5": null @@ -65332,36 +68155,52 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "put the bowl and wet wipes on the plate." + "put the two cups in the basin." ], "sub_tasks": [ { - "subtask": "Place the wet wipes into the bowl with the left gripper", + "subtask": "place the cup in the yellow basket use the right gripper", "subtask_index": 0 }, { - "subtask": "Place the bowl on the plate with the right gripper", + "subtask": "Grasp the cup the left gripper", "subtask_index": 1 }, { - "subtask": "Static", + "subtask": "Lift the cup the right gripper", "subtask_index": 2 }, { - "subtask": "Grasp the wet wipes with the left gripper", + "subtask": "place the cup in the basin use the left gripper", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Grasp the cup the right gripper", "subtask_index": 4 }, { - "subtask": "Grasp the bowl with the right gripper", + "subtask": "place the cup in the yellow basket use the left gripper", "subtask_index": 5 }, { - "subtask": "null", + "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": [ @@ -65401,23 +68240,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 13058, + "total_episodes": 99, + "total_frames": 20190, "fps": 30, - "total_tasks": 7, - "total_videos": 200, + "total_tasks": 11, + "total_videos": 396, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "425.41 MB" + "dataset_size": "802.42 MB" }, - "frame_num": 13058, - "dataset_size": "425.41 MB", - "data_structure": "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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\n|-- info.yaml\n`-- README.md", + "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": "0:49" + "train": "0:98" }, "features": { "observation.images.cam_head_rgb": { @@ -65771,225 +68610,6 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": { - "path": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge", - "dataset_name": "storage_box_for_mouse_and_sponge", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the sponge with the right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mouse_box", - "level1": "container", - "level2": "mouse_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "sponge", - "level1": "daily_necessities", - "level2": "sponge", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "round_plate", - "level1": "container", - "level2": "round_plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-9471", - "dataset_size": "299.3MB", - "statistics": { - "total_episodes": 49, - "total_frames": 9471, - "total_tasks": 1, - "total_videos": 196, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "2c6237a9-4c9b-45ce-bd08-c48c42462c93", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the sponge with the right gripper", - "Static", - "Place the box on the white plate with the left gripper", - "End", - "Abnormal", - "Place the sponge on the white plate with the right gripper", - "Grasp the box with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\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_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_cup": { - "path": "Airbot_MMK2_storage_cup", - "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", - "objects": [ - { - "object_name": "any_cup", - "level1": "cups", - "level2": "any_cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basin", - "level1": "storage_utensils", - "level2": "basin", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-20190", - "dataset_size": "802.0MB", - "statistics": { - "total_episodes": 99, - "total_frames": 20190, - "total_tasks": 1, - "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" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Airbot_MMK2_storage_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 └── (...)" - }, "Cobot_Magic_take_the_shoes_off_the_shelf": { "path": "Cobot_Magic_take_the_shoes_off_the_shelf", "dataset_name": "take_the_shoes_off_the_shelf", @@ -79294,12 +81914,252 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel_j": { + "path": "leju_robot_box_storage_parcel_j", + "dataset_name": "box_storage_parcel_j", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Take the fast-moving consumer goods bottle from the table.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parcel", + "level1": "container", + "level2": "parcel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-322063", + "dataset_size": "20.0GB", + "statistics": { + "total_episodes": 226, + "total_frames": 322063, + "total_tasks": 1, + "total_videos": 678, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "a9028fc5-d827-45d1-a2a9-31593becbf59", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Take the fast-moving consumer goods bottle from the table.", + "Pick up the fast-moving consumer goods bottle from the table.", + "Flip the fast-moving consumer goods bottle to the front side.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "RMC-AIDA-L_basket_storage_peach": { + "path": "RMC-AIDA-L_basket_storage_peach", + "dataset_name": "basket_storage_peach", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the basket in the center of view with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruits", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-308398", + "dataset_size": "3.6GB", + "statistics": { + "total_episodes": 721, + "total_frames": 308398, + "total_tasks": 5, + "total_videos": 2163, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "88e35314-80f0-4a2b-a92e-5b0e769483ae", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the basket in the center of view with the left gripper", + "Place the dark basket in the center of view with the right gripper", + "Pick up the basket with the left gripper", + "Grasp the peach with left gripper", + "Move the basket to the center of view with the left gripper", + "Pick up the dark basket with the right gripper", + "Pick up the dark basket with the left gripper", + "Pick up the peach with the left gripper", + "Place the peach in the dark basket with right gripper", + "Place the peach in the dark basket with left gripper", + "Pick up the light basket with the right gripper", + "Grasp the basket with right gripper", + "Put the peach into the basket", + "Grasp the basket with left gripper", + "Put the basket in the middle", + "Grab the basket with your left arm", + "Pick up the peach with the right gripper", + "End", + "Place the basket in the center of view with left gripper", + "Place the light basket in the center of view with the right gripper", + "abnormal", + "Place the basket in the center of view with right gripper", + "Grab the peach with your right arm", + "Pick up the light basket with the left gripper", + "Grasp the peach with right gripper", + "Place the peach into the basket with the right gripper", + "Place the peach into the basket with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_box_storage_parcel_j": { - "path": "leju_robot_box_storage_parcel_j", - "dataset_name": "box_storage_parcel_j", + "leju_robot_hotel_services_af": { + "path": "leju_robot_hotel_services_af", + "dataset_name": "hotel_services_af", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -79310,7 +82170,7 @@ "pick", "place" ], - "tasks": "Take the fast-moving consumer goods bottle from the table.", + "tasks": "Pick up the key card from the card box.", "objects": [ { "object_name": "table", @@ -79329,35 +82189,35 @@ "level5": null }, { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", + "object_name": "card", + "level1": "nfc", + "level2": "card", "level3": null, "level4": null, "level5": null }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-322063", - "dataset_size": "20.0GB", + "frame_range": "0-77713", + "dataset_size": "4.9GB", "statistics": { - "total_episodes": 226, - "total_frames": 322063, + "total_episodes": 437, + "total_frames": 77713, "total_tasks": 1, - "total_videos": 678, + "total_videos": 1311, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "a9028fc5-d827-45d1-a2a9-31593becbf59", + "dataset_uuid": "454ce503-1811-4c2a-9a2d-e6c284efa8e3", "language": [ "en", "zh" @@ -79366,9 +82226,8 @@ "robotics" ], "sub_tasks": [ - "Take the fast-moving consumer goods bottle from the table.", - "Pick up the fast-moving consumer goods bottle from the table.", - "Flip the fast-moving consumer goods bottle to the front side.", + "Pick up the key card from the card box.", + "Hand the key card to the target.", "null" ], "annotations": { @@ -79406,12 +82265,12 @@ ], "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": "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_basket_storage_peach": { - "path": "RMC-AIDA-L_basket_storage_peach", - "dataset_name": "basket_storage_peach", + "R1_Lite_take_or_store_plates": { + "path": "R1_Lite_take_or_store_plates", + "dataset_name": "take_or_store_plates", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -79422,46 +82281,54 @@ "pick", "place" ], - "tasks": "Place the basket in the center of view with the left gripper", + "tasks": "Pick up the plate on the stove", "objects": [ { - "object_name": "table", + "object_name": "cabinet", "level1": "furniture", - "level2": "table", + "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "drawer", + "level1": "container", + "level2": "drawer", "level3": null, "level4": null, "level5": null }, { - "object_name": "peach", - "level1": "fruits", - "level2": "peach", + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "stove", + "level1": "furniture", + "level2": "stove", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-308398", - "dataset_size": "3.6GB", + "operation_platform_height": null, + "frame_range": "0-138676", + "dataset_size": "5.2GB", "statistics": { - "total_episodes": 721, - "total_frames": 308398, - "total_tasks": 5, - "total_videos": 2163, + "total_episodes": 105, + "total_frames": 138676, + "total_tasks": 1, + "total_videos": 315, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "88e35314-80f0-4a2b-a92e-5b0e769483ae", + "dataset_uuid": "3c2c0596-7690-4f94-911f-74035fe6e126", "language": [ "en", "zh" @@ -79470,33 +82337,10 @@ "robotics" ], "sub_tasks": [ - "Place the basket in the center of view with the left gripper", - "Place the dark basket in the center of view with the right gripper", - "Pick up the basket with the left gripper", - "Grasp the peach with left gripper", - "Move the basket to the center of view with the left gripper", - "Pick up the dark basket with the right gripper", - "Pick up the dark basket with the left gripper", - "Pick up the peach with the left gripper", - "Place the peach in the dark basket with right gripper", - "Place the peach in the dark basket with left gripper", - "Pick up the light basket with the right gripper", - "Grasp the basket with right gripper", - "Put the peach into the basket", - "Grasp the basket with left gripper", - "Put the basket in the middle", - "Grab the basket with your left arm", - "Pick up the peach with the right gripper", - "End", - "Place the basket in the center of view with left gripper", - "Place the light basket in the center of view with the right gripper", - "abnormal", - "Place the basket in the center of view with right gripper", - "Grab the peach with your right arm", - "Pick up the light basket with the left gripper", - "Grasp the peach with right gripper", - "Place the peach into the basket with the right gripper", - "Place the peach into the basket with the left gripper", + "Pick up the plate on the stove", + "Put the plate in the cupboard", + "Pick up the plate in the cupboard", + "Put the plate on the stove", "null" ], "annotations": { @@ -79534,23 +82378,49 @@ ], "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": "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_hotel_services_af": { - "path": "leju_robot_hotel_services_af", - "dataset_name": "hotel_services_af", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + "Airbot_MMK2_storage_cookie_toy_car": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Pick up the key card from the card box.", + "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", + "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", @@ -79560,322 +82430,475 @@ "level4": null, "level5": null }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + { + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "toy_car", + "level1": "toy", + "level2": "toy_car", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "snacks", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the toy 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, + "fps": 30, + "total_tasks": 8, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "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" }, - { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" }, - { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-77713", - "dataset_size": "4.9GB", - "statistics": { - "total_episodes": 437, - "total_frames": 77713, - "total_tasks": 1, - "total_videos": 1311, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "454ce503-1811-4c2a-9a2d-e6c284efa8e3", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the key card from the card box.", - "Hand the key card to the target.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_take_or_store_plates": { - "path": "R1_Lite_take_or_store_plates", - "dataset_name": "take_or_store_plates", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the plate on the stove", - "objects": [ - { - "object_name": "cabinet", - "level1": "furniture", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null + "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" }, - { - "object_name": "drawer", - "level1": "container", - "level2": "drawer", - "level3": null, - "level4": null, - "level5": null + "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" }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "stove", - "level1": "furniture", - "level2": "stove", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-138676", - "dataset_size": "5.2GB", - "statistics": { - "total_episodes": 105, - "total_frames": 138676, - "total_tasks": 1, - "total_videos": 315, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3c2c0596-7690-4f94-911f-74035fe6e126", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the plate on the stove", - "Put the plate in the cupboard", - "Pick up the plate in the cupboard", - "Put the plate on the stove", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_cookie_toy_car": { - "path": "Airbot_MMK2_storage_cookie_toy_car", - "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", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "toy_car", - "level1": "toy", - "level2": "toy_car", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "cookie", - "level1": "snacks", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null + "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" } - ], - "operation_platform_height": 77.2, - "frame_range": "0-8388", - "dataset_size": "277.6MB", - "statistics": { - "total_episodes": 50, - "total_frames": 8388, - "total_tasks": 1, - "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" }, "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, "G1edu-u3_put_the_toy_ap": { "path": "G1edu-u3_put_the_toy_ap", @@ -80553,118 +83576,18 @@ } ], "operation_platform_height": 77.2, - "frame_range": "0-16023", - "dataset_size": "467.8MB", - "statistics": { - "total_episodes": 49, - "total_frames": 16023, - "total_tasks": 1, - "total_videos": 196, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "dd96582f-4eb0-43ad-b486-538898f0f0fe", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the white bottle with the left gripper", - "Static", - "End", - "Abnormal", - "Grasp the white bottle the right gripper", - "Place the white bottle on the white board with the left gripper", - "Place the white bottle on the white board 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" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_egg_bowl": { - "path": "Airbot_MMK2_storage_egg_bowl", - "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", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg", - "level1": "food", - "level2": "eggs", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-11572", - "dataset_size": "444.5MB", + "frame_range": "0-16023", + "dataset_size": "467.8MB", "statistics": { - "total_episodes": 50, - "total_frames": 11572, + "total_episodes": 49, + "total_frames": 16023, "total_tasks": 1, - "total_videos": 200, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "63bd0ac6-e8da-4877-a892-0fcdd1abf2f2", + "dataset_uuid": "dd96582f-4eb0-43ad-b486-538898f0f0fe", "language": [ "en", "zh" @@ -80673,12 +83596,13 @@ "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", + "Grasp the white bottle with the left gripper", + "Static", "End", - "Grasp the egg with the right gripper", + "Abnormal", + "Grasp the white bottle the right gripper", + "Place the white bottle on the white board with the left gripper", + "Place the white bottle on the white board with the right gripper", "null" ], "annotations": { @@ -80716,8 +83640,507 @@ ], "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 └── (...)" + "data_schema": "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_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", + "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": "egg", + "level3": null, + "level4": null, + "level5": null + }, + { + "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, + "fps": 30, + "total_tasks": 7, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "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 Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, "G1edu-u3_put_the_cup_b": { "path": "G1edu-u3_put_the_cup_b", @@ -83731,19 +87154,45 @@ "structure": "R1_Lite_move_the_position_of_the_pen_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_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, "Airbot_MMK2_storage_tools": { - "path": "Airbot_MMK2_storage_tools", - "dataset_name": "Airbot_MMK2_storage_tools", - "robot_type": "", - "end_effector_type": [ - "five_finger_gripper" + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "Place the plier into white basket with the left gripper", + "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", + "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", @@ -83770,72 +87219,446 @@ "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 + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "221.53 MB" }, - "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" + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, "Galbot_g1_steamer_storage_baozi_i": { "path": "Galbot_g1_steamer_storage_baozi_i",