Update RoboCOIN assets

dataset_info/Agilex_Cobot_Magic_Agilex_Split_Aloha_organize_desk_fail.yaml

@@ -0,0 +1,557 @@
+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_Agilex_Split_Aloha_organize_desk_fail
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: basket
+  level1: home_storage
+  level2: basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: pen_holder
+  level1: stationery
+  level2: pen_holder
+  level3: null
+  level4: null
+  level5: null
+- object_name: storage_box
+  level1: home_storage
+  level2: storage_box
+  level3: null
+  level4: null
+  level5: null
+- object_name: cola
+  level1: beverages
+  level2: cola
+  level3: null
+  level4: null
+  level5: null
+- object_name: milk
+  level1: beverages
+  level2: milk
+  level3: null
+  level4: null
+  level5: null
+- object_name: pen
+  level1: stationery
+  level2: pen
+  level3: null
+  level4: null
+  level5: null
+- object_name: toilet_paper
+  level1: daily_necessities
+  level2: toilet_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:
+- take out the empty pen holder by hand, and then put the milk and cola into the basket
+  on the left. place the pen holders in the middle one by one, and then put the papers
+  one by one into the box on the right.
+sub_tasks:
+- subtask: Place the red marker pen in pen holder with the right gripper
+  subtask_index: 0
+- subtask: Place the orange marker pen in pen holder with the right gripper
+  subtask_index: 1
+- subtask: Place the waste paper in the box with the right gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Grasp the black marker pen with the left gripper
+  subtask_index: 4
+- subtask: Place the red marker pen in pen holder with the left gripper
+  subtask_index: 5
+- subtask: Grasp the red marker pen with the right gripper
+  subtask_index: 6
+- subtask: Place the cola can in the basket with the left gripper
+  subtask_index: 7
+- subtask: Grasp the black marker pen  with the right gripper
+  subtask_index: 8
+- subtask: Grasp the orange marker pen with the right gripper
+  subtask_index: 9
+- subtask: Place the black marker pen in pen holder with the right gripper
+  subtask_index: 10
+- subtask: Place the orange marker pen in pen holder with the left gripper
+  subtask_index: 11
+- subtask: Grasp the cola can with the left gripper
+  subtask_index: 12
+- subtask: Grasp the orange marker pen with the left gripper
+  subtask_index: 13
+- subtask: Place the milk in the basket with the left gripper
+  subtask_index: 14
+- subtask: Grasp the milk with the left gripper
+  subtask_index: 15
+- subtask: Grasp the waste paper with the right gripper
+  subtask_index: 16
+- subtask: Place the black marker pen in pen holder with the left gripper
+  subtask_index: 17
+- subtask: Grasp the red marker pen with the left gripper
+  subtask_index: 18
+- subtask: 'null'
+  subtask_index: 19
+atomic_actions:
+- grasp
+- pick
+- place
+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: 117
+  total_frames: 274558
+  fps: 30
+  total_tasks: 20
+  total_videos: 351
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 4.17 GB
+frame_num: 274558
+dataset_size: 4.17 GB
+data_structure: 'Agilex_Split_Aloha_organize_desk_fail_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (105 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:116
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml

@@ -0,0 +1,577 @@
+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_classify_objects_six
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_basket
+  level1: home_storage
+  level2: brown_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: black_basket
+  level1: food
+  level2: black_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: bread
+  level1: food
+  level2: bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: orange
+  level1: food
+  level2: orange
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_lemon
+  level1: food
+  level2: green_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: pink_clear_plastic_cup
+  level1: kitchen_supplies
+  level2: pink_clear_plastic_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: laundry_detergent
+  level1: daily_necessities
+  level2: laundry_detergent
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: Mmentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- place multiple objects separately in different baskets.
+sub_tasks:
+- subtask: Place the orange in the light basket with left gripper
+  subtask_index: 0
+- subtask: Grasp the xx with the right gripper
+  subtask_index: 1
+- subtask: Pick up the facial cleanser with left gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Place the facial cleanser in the dark basket with left gripper
+  subtask_index: 4
+- subtask: Place the XX into the basket on the left with the right gripper
+  subtask_index: 5
+- subtask: Place the lime in the light basket with right gripper
+  subtask_index: 6
+- subtask: Place the laundry detergent in the dark basket with right gripper
+  subtask_index: 7
+- subtask: Place the orange in the light basket with right gripper
+  subtask_index: 8
+- subtask: Pick up the lime with left gripper
+  subtask_index: 9
+- subtask: Place the XX into the basket on the right with the left gripper
+  subtask_index: 10
+- subtask: Place the XX into the basket on the left with the left gripper
+  subtask_index: 11
+- subtask: Place the XX into the basket on the right with the right gripper
+  subtask_index: 12
+- subtask: Grasp the xx with the left gripper
+  subtask_index: 13
+- subtask: Pick up the orange with left gripper
+  subtask_index: 14
+- subtask: Place the bread in the light basket with right gripper
+  subtask_index: 15
+- subtask: Pick up the laundry detergent with right gripper
+  subtask_index: 16
+- subtask: Abnormal
+  subtask_index: 17
+- subtask: Pick up the laundry detergent with left gripper
+  subtask_index: 18
+- subtask: Pick up the facial cleanser with right gripper
+  subtask_index: 19
+- subtask: Pick up the lime with right gripper
+  subtask_index: 20
+- subtask: Pick up the bread with right gripper
+  subtask_index: 21
+- subtask: Place the brown cup in the dark basket with left gripper
+  subtask_index: 22
+- subtask: Place the laundry detergent in the dark basket with left gripper
+  subtask_index: 23
+- subtask: Pick up the orange with right gripper
+  subtask_index: 24
+- subtask: Place the lime in the light basket with left gripper
+  subtask_index: 25
+- subtask: Pick up the brown cup with left gripper
+  subtask_index: 26
+- subtask: 'null'
+  subtask_index: 27
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 199
+  total_frames: 302506
+  fps: 30
+  total_tasks: 28
+  total_videos: 597
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 3.88 GB
+frame_num: 302506
+dataset_size: 3.88 GB
+data_structure: 'Agilex_Cobot_Magic_classify_objects_six_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (187 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:198
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_connect_block.yaml

@@ -0,0 +1,1662 @@
+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_connect_block
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- According to the building block template in front, assemble the scattered blocks
+  together.
+sub_tasks:
+- subtask: 'Put the  yellow build block on the right of the green  build block
+
+    '
+  subtask_index: 0
+- subtask: 'Put the blue  build block on the behind of the  green build block
+
+    '
+  subtask_index: 1
+- subtask: Put the yellow build block in the center of the table
+  subtask_index: 2
+- subtask: 'Put the blue build block on the right of the  yellow build block
+
+    '
+  subtask_index: 3
+- subtask: 'Put the green build block on the red build block
+
+    '
+  subtask_index: 4
+- subtask: 'Put the yellow  build block on the behind of the green  build block
+
+    '
+  subtask_index: 5
+- subtask: 'Put the orange  build block on the right of the  yellow build block
+
+    '
+  subtask_index: 6
+- subtask: 'Put the orange  build block on the right of the  red build block
+
+    '
+  subtask_index: 7
+- subtask: 'Put the  orange build block on the right of the blue  build block
+
+    '
+  subtask_index: 8
+- subtask: 'Put the green  build block on the left of the blue  build block
+
+    '
+  subtask_index: 9
+- subtask: 'Put the  blue build block on the left of the  yellow build block
+
+    '
+  subtask_index: 10
+- subtask: 'Put the yellow  build block on the right of the green  build block
+
+    '
+  subtask_index: 11
+- subtask: 'Put the orange  build block on the front of the  blue build block
+
+    '
+  subtask_index: 12
+- subtask: 'Put the orange  build block on the left of the green build block
+
+    '
+  subtask_index: 13
+- subtask: 'Put the blue  build block on the right of the  green build block
+
+    '
+  subtask_index: 14
+- subtask: 'Put the green build block on the behind of the blue build block
+
+    '
+  subtask_index: 15
+- subtask: 'Put the  orange build block on the right of the   build block
+
+    '
+  subtask_index: 16
+- subtask: 'Put the  orange build block on the right of the green  build block
+
+    '
+  subtask_index: 17
+- subtask: 'Put the red  build block on the behind of the  orange build block
+
+    '
+  subtask_index: 18
+- subtask: 'Put the red  build block on the front of the  yellow build block
+
+    '
+  subtask_index: 19
+- subtask: 'Put the orange  build block on the front of the  yellow build block
+
+    '
+  subtask_index: 20
+- subtask: 'Put the blue build block on the behind of the green build block
+
+    '
+  subtask_index: 21
+- subtask: 'Put the  orange  build block in the center of the table
+
+    '
+  subtask_index: 22
+- subtask: 'Put the   yellow build block in the center of the table
+
+    '
+  subtask_index: 23
+- subtask: 'Put the green build block on the behind of the yellow build block
+
+    '
+  subtask_index: 24
+- subtask: 'Put the  orange build block on the left of the  blue build block
+
+    '
+  subtask_index: 25
+- subtask: 'Put the  red build block on the right of the blue build block
+
+    '
+  subtask_index: 26
+- subtask: 'Put the yellow   build block in the center of the table
+
+    '
+  subtask_index: 27
+- subtask: 'Put the  red build block on the behind of the  blue build block
+
+    '
+  subtask_index: 28
+- subtask: 'Put the  blue build block on the behind of the orange  build block
+
+    '
+  subtask_index: 29
+- subtask: 'Put the  orange build block on the behind of the  green build block
+
+    '
+  subtask_index: 30
+- subtask: 'Put the  red build block on the right of the  yellow build block
+
+    '
+  subtask_index: 31
+- subtask: 'Put the  yellow build block on the front of the  orange build block
+
+    '
+  subtask_index: 32
+- subtask: 'Put the blue  build block on the right of the green build block
+
+    '
+  subtask_index: 33
+- subtask: 'Put the blue  build block on the right of the red build block
+
+    '
+  subtask_index: 34
+- subtask: 'Put the  red build block on the behind of the orange  build block
+
+    '
+  subtask_index: 35
+- subtask: 'Put the yellow  build block on the behind of the  green  build block
+
+    '
+  subtask_index: 36
+- subtask: 'Put the red build block on the right of the  blue  build block
+
+    '
+  subtask_index: 37
+- subtask: 'Put the green  build block on the behind of the yellow build block
+
+    '
+  subtask_index: 38
+- subtask: 'Put the yellow  build block on the behind of the  green build block
+
+    '
+  subtask_index: 39
+- subtask: 'Put the  orange build block on the behind of the  red build block
+
+    '
+  subtask_index: 40
+- subtask: 'Put theyellow   build block on the behind of the blue  build block
+
+    '
+  subtask_index: 41
+- subtask: 'Put the  green build block on the behind of the yellow  build block
+
+    '
+  subtask_index: 42
+- subtask: 'Put the  red build block on the right of the  orange  build block
+
+    '
+  subtask_index: 43
+- subtask: 'Put the yellow  build block on the right of the  red build block
+
+    '
+  subtask_index: 44
+- subtask: 'Put the blue  build block on the right of the orange  build block
+
+    '
+  subtask_index: 45
+- subtask: 'Put the green  build block on the right of the yellow  build block
+
+    '
+  subtask_index: 46
+- subtask: 'Put the   orange build block in the center of the table
+
+    '
+  subtask_index: 47
+- subtask: 'Put the green  build block on the orange  build block
+
+    '
+  subtask_index: 48
+- subtask: 'Put the yellow  build block on the right of the  blue build block
+
+    '
+  subtask_index: 49
+- subtask: 'Put the green  build block on the right of the red  build block
+
+    '
+  subtask_index: 50
+- subtask: 'Put the  green build block on the  blue build block
+
+    '
+  subtask_index: 51
+- subtask: 'Put the green build block on the right of the  orange build block
+
+    '
+  subtask_index: 52
+- subtask: 'Put the blue  build block in the center of the table
+
+    '
+  subtask_index: 53
+- subtask: 'Put the orange  build block on the behind of the  green  build block
+
+    '
+  subtask_index: 54
+- subtask: 'Put the red build block on the right of the yellow build block
+
+    '
+  subtask_index: 55
+- subtask: 'Put the  blue build block on the behind of the  green build block
+
+    '
+  subtask_index: 56
+- subtask: 'Put the orange  build block on the right of the  blue build block
+
+    '
+  subtask_index: 57
+- subtask: 'Put the  yellow  build block on the behind of the orange  build block
+
+    '
+  subtask_index: 58
+- subtask: 'Put the orange   build block in the center of the table
+
+    '
+  subtask_index: 59
+- subtask: 'Put the blue  build block on the right of the  yellow build block
+
+    '
+  subtask_index: 60
+- subtask: 'Put the  orange build block on the behind of the  yellow build block
+
+    '
+  subtask_index: 61
+- subtask: 'Put the  yellow build block on the behind of the green  build block
+
+    '
+  subtask_index: 62
+- subtask: 'Put the  blue build block on the front of the  orange build block
+
+    '
+  subtask_index: 63
+- subtask: 'Put the  green  build block on the behind of the red  build block
+
+    '
+  subtask_index: 64
+- subtask: 'Put the green   build block in the center of the table
+
+    '
+  subtask_index: 65
+- subtask: 'Put the  green  build block on the right of the yellow build block
+
+    '
+  subtask_index: 66
+- subtask: 'Put the red build block on the right of the blue build block
+
+    '
+  subtask_index: 67
+- subtask: 'Put the  red build block on the behind of the  green  build block
+
+    '
+  subtask_index: 68
+- subtask: 'Put the blue  build block on the behind of the orange  build block
+
+    '
+  subtask_index: 69
+- subtask: 'Put the yellow build block on the right of the red build block
+
+    '
+  subtask_index: 70
+- subtask: 'Put the  blue build block in the center of the table
+
+    '
+  subtask_index: 71
+- subtask: 'Put the red build block on the behind of the yellow build block
+
+    '
+  subtask_index: 72
+- subtask: 'Put the  yellow build block on the right of the red  build block
+
+    '
+  subtask_index: 73
+- subtask: 'Put the green  build block on the right of the orange build block
+
+    '
+  subtask_index: 74
+- subtask: 'Put the red  build block on the  blue  build block
+
+    '
+  subtask_index: 75
+- subtask: 'Put the  orange build block on the left of the yellow build block
+
+    '
+  subtask_index: 76
+- subtask: 'Put the  green build block on the right of the  red build block
+
+    '
+  subtask_index: 77
+- subtask: 'Put the  red build block on the left of the orange build block
+
+    '
+  subtask_index: 78
+- subtask: 'Put the orange build block on the right of the blue build block
+
+    '
+  subtask_index: 79
+- subtask: 'Put the  red build block on the right of the  orange build block
+
+    '
+  subtask_index: 80
+- subtask: 'Put the orange  build block on the behind of the yellow  build block
+
+    '
+  subtask_index: 81
+- subtask: 'Put the  yellow   build block in the center of the table
+
+    '
+  subtask_index: 82
+- subtask: 'Put the yellow  build block on the behind of the red  build block
+
+    '
+  subtask_index: 83
+- subtask: 'Put the yellow  build block on the behind of the  blue build block
+
+    '
+  subtask_index: 84
+- subtask: 'Put the orange  build block on the behind of the  red build block
+
+    '
+  subtask_index: 85
+- subtask: 'Put the yellow  build block in the center of the table
+
+    '
+  subtask_index: 86
+- subtask: 'Put the green  build block on the right of the  blue build block
+
+    '
+  subtask_index: 87
+- subtask: 'Put the orange  build block on the right of the yellow build block
+
+    '
+  subtask_index: 88
+- subtask: 'Put the  blue build block on the right of the  yellow build block
+
+    '
+  subtask_index: 89
+- subtask: 'Put the red  build block on the right of the green build block
+
+    '
+  subtask_index: 90
+- subtask: 'Put the orange  build block on the behind of the  yellow build block
+
+    '
+  subtask_index: 91
+- subtask: 'Put the yellow  build block on the  blue build block
+
+    '
+  subtask_index: 92
+- subtask: 'Put the  red build block on the right of the orange build block
+
+    '
+  subtask_index: 93
+- subtask: 'Put the   bluebuild block on the right of the  yellow build block
+
+    '
+  subtask_index: 94
+- subtask: 'Put the red build block in the center of the table
+
+    '
+  subtask_index: 95
+- subtask: 'Put the red  build block on the  blue build block
+
+    '
+  subtask_index: 96
+- subtask: 'Put the  orange  build block on the right of the blue  build block
+
+    '
+  subtask_index: 97
+- subtask: 'Put the blue   build block on the behind of the orange  build block
+
+    '
+  subtask_index: 98
+- subtask: 'Put the yellow  build block on the right of the red  build block
+
+    '
+  subtask_index: 99
+- subtask: '
+
+    Put the  yellow build block on the behind of the  green build block
+
+    '
+  subtask_index: 100
+- subtask: 'Put the  yellow  build block on the right of the  orange build block
+
+    '
+  subtask_index: 101
+- subtask: 'Put the orange build block on the behind of the blue build block
+
+    '
+  subtask_index: 102
+- subtask: 'Put the  orange build block on the right of the  red build block
+
+    '
+  subtask_index: 103
+- subtask: 'Put the green  build block on the behind of the orange  build block
+
+    '
+  subtask_index: 104
+- subtask: 'Put the blue  build block on the behind of the  yellow build block
+
+    '
+  subtask_index: 105
+- subtask: 'Put the yellow build block on the right of the orange build block
+
+    '
+  subtask_index: 106
+- subtask: 'Put the green  build block on the behind of the  yellow build block
+
+    '
+  subtask_index: 107
+- subtask: 'Put the green  build block on the right of the  red build block
+
+    '
+  subtask_index: 108
+- subtask: 'Put the red build block on the front of the blue build block
+
+    '
+  subtask_index: 109
+- subtask: 'Put the  red build block on the behind of the  green'' build block
+
+    '
+  subtask_index: 110
+- subtask: 'Put the red build block on the behind of the orange build block
+
+    '
+  subtask_index: 111
+- subtask: 'Put the red build block on the left of the green build block
+
+    '
+  subtask_index: 112
+- subtask: 'Put the green  build block on the behind of the yellow  build block
+
+    '
+  subtask_index: 113
+- subtask: 'Put blue  the   build block on the right of the  red build block
+
+    '
+  subtask_index: 114
+- subtask: 'Put the  green  build block on the  orange build block
+
+    '
+  subtask_index: 115
+- subtask: 'Put the  orange build block on the right of the red build block
+
+    '
+  subtask_index: 116
+- subtask: 'Put the  blue build block on the right of the green build block
+
+    '
+  subtask_index: 117
+- subtask: 'Put the yellow build block on the right of the blue build block
+
+    '
+  subtask_index: 118
+- subtask: 'Put the orange  build block on the behind of the  blue build block
+
+    '
+  subtask_index: 119
+- subtask: '
+
+    Put the yellow build block in the center of the table'
+  subtask_index: 120
+- subtask: 'Put the yellow  build block on the right of the green build block
+
+    '
+  subtask_index: 121
+- subtask: 'Put the green build block on the behind of the  yellow build block
+
+    '
+  subtask_index: 122
+- subtask: 'Put the blue   build block in the center of the table
+
+    '
+  subtask_index: 123
+- subtask: 'Put the orange build block in the center of the table
+
+    '
+  subtask_index: 124
+- subtask: 'Put the  yellow build block on the right of the  green build block
+
+    '
+  subtask_index: 125
+- subtask: 'Put the red  build block on the right of the  yellow build block
+
+    '
+  subtask_index: 126
+- subtask: 'Put the  yellow build block on the behind of the red  build block
+
+    '
+  subtask_index: 127
+- subtask: 'Put the red  build block on the behind of the   green build block
+
+    '
+  subtask_index: 128
+- subtask: Put the  green build block on the behind of the  blue build block
+  subtask_index: 129
+- subtask: 'Put the  green build block on the behind of the orange   build block
+
+    '
+  subtask_index: 130
+- subtask: 'Put the blue build block on the right of the green build block
+
+    '
+  subtask_index: 131
+- subtask: 'Put the  green build block in the center of the table
+
+    '
+  subtask_index: 132
+- subtask: Put the green build block on the behind of the blue  build block
+  subtask_index: 133
+- subtask: 'Put the  green build block on the left of the  orange build block
+
+    '
+  subtask_index: 134
+- subtask: 'Put the red  build block on the behind of the yellow  build block
+
+    '
+  subtask_index: 135
+- subtask: 'Put the yellow  build block on the right of the  green  build block
+
+    '
+  subtask_index: 136
+- subtask: 'Put the  blue  build block on the behind of the  red  build block
+
+    '
+  subtask_index: 137
+- subtask: 'Put the orange  build block on the behind of the  red  build block
+
+    '
+  subtask_index: 138
+- subtask: 'Put the blue  build block on the behind of the green  build block
+
+    '
+  subtask_index: 139
+- subtask: 'Put the  yellow build block on the  blue build block
+
+    '
+  subtask_index: 140
+- subtask: 'Put the red  build block on the front of the  green build block
+
+    '
+  subtask_index: 141
+- subtask: 'Put the red  build block on the left of the ornage build block
+
+    '
+  subtask_index: 142
+- subtask: 'Put the green build block in the center of the table
+
+    '
+  subtask_index: 143
+- subtask: 'Put the red build block on the right of the green build block
+
+    '
+  subtask_index: 144
+- subtask: 'Put the yellow  build block on the right of the  orange build block
+
+    '
+  subtask_index: 145
+- subtask: 'Put the  yellow build block on the right of the  blue build block
+
+    '
+  subtask_index: 146
+- subtask: Put the XX build block on the XX build block
+  subtask_index: 147
+- subtask: 'Put the  yellow  build block in the center of the table
+
+    '
+  subtask_index: 148
+- subtask: 'Put the  orange build block on the  green build block
+
+    '
+  subtask_index: 149
+- subtask: End
+  subtask_index: 150
+- subtask: 'Put the blue build block on the right of the red build block
+
+    '
+  subtask_index: 151
+- subtask: 'Put the green build block on the right of the orange build block
+
+    '
+  subtask_index: 152
+- subtask: 'Put the  greem build block on the behind of the blue  build block
+
+    '
+  subtask_index: 153
+- subtask: 'Put the left  build block on the left of the green build block
+
+    '
+  subtask_index: 154
+- subtask: 'Put the green  build block on the right of the  orange build block
+
+    '
+  subtask_index: 155
+- subtask: 'Put the red  build block on the left of the blue build block
+
+    '
+  subtask_index: 156
+- subtask: 'Put the  blue build block on the right of the orange build block
+
+    '
+  subtask_index: 157
+- subtask: 'Put the  yellow build block on the behind of the  orange build block
+
+    '
+  subtask_index: 158
+- subtask: 'Put the  green build block on the behind of the blue  build block
+
+    '
+  subtask_index: 159
+- subtask: 'Put the yellow  build block on the right of the orange build block
+
+    '
+  subtask_index: 160
+- subtask: 'Put the  blue build block on the behind of the  orange build block
+
+    '
+  subtask_index: 161
+- subtask: 'Put the red build block on the front of the green build block
+
+    '
+  subtask_index: 162
+- subtask: 'Put the red  build block on the front of the yellow  build block
+
+    '
+  subtask_index: 163
+- subtask: 'Put the yellow  build block on the behind of the blue build block
+
+    '
+  subtask_index: 164
+- subtask: 'Put the blue build block on the orange build block
+
+    '
+  subtask_index: 165
+- subtask: 'Put the   green build block in the center of the table
+
+    '
+  subtask_index: 166
+- subtask: 'Put the  orange build block on the front of the  blue build block
+
+    '
+  subtask_index: 167
+- subtask: 'Put the blue  build block on the right of the yellow  build block
+
+    '
+  subtask_index: 168
+- subtask: 'Put the blue  build block on the left of the  yellow build block
+
+    '
+  subtask_index: 169
+- subtask: 'Put the  orange build block on the right of the yellow build block
+
+    '
+  subtask_index: 170
+- subtask: 'Put the  orange build block on the left of the red  build block
+
+    '
+  subtask_index: 171
+- subtask: 'Put the green  build block in the center of the table
+
+    '
+  subtask_index: 172
+- subtask: 'Put the red  build block on the right of the blue build block
+
+    '
+  subtask_index: 173
+- subtask: Put the  blue build block on the right of the  yellow build block
+  subtask_index: 174
+- subtask: 'Put the  green  build block on the right of the  orange build block
+
+    '
+  subtask_index: 175
+- subtask: 'Put the  blue  build block in the center of the table
+
+    '
+  subtask_index: 176
+- subtask: 'Put the green  build block on the right of the  red  build block
+
+    '
+  subtask_index: 177
+- subtask: 'Put the green build block on the right of the blue build block
+
+    '
+  subtask_index: 178
+- subtask: 'Put the yellow build block in the center of the table
+
+    '
+  subtask_index: 179
+- subtask: Abnormal
+  subtask_index: 180
+- subtask: 'Put the  red build block on the behind of the  orange build block
+
+    '
+  subtask_index: 181
+- subtask: 'Put the red build block on the yellow build block
+
+    '
+  subtask_index: 182
+- subtask: 'Put the orange  build block on the right of the yellow  build block
+
+    '
+  subtask_index: 183
+- subtask: 'Put the  red  build block on the right of the yellow build block
+
+    '
+  subtask_index: 184
+- subtask: 'Put the  orange build block on the right of the  blue build block
+
+    '
+  subtask_index: 185
+- subtask: 'Put the orange build block on the orange build block
+
+    '
+  subtask_index: 186
+- subtask: 'Put the  blue build block on the behind of the red  build block
+
+    '
+  subtask_index: 187
+- subtask: 'Put the  yellow build block on the right of the blue  build block
+
+    '
+  subtask_index: 188
+- subtask: 'Put the  yellow build block on the behind of the  green build block
+
+    '
+  subtask_index: 189
+- subtask: 'Put the yellow  build block on the left of the blue build block
+
+    '
+  subtask_index: 190
+- subtask: 'Put the  yellow build block on the right of the orange  build block
+
+    '
+  subtask_index: 191
+- subtask: 'Put the yellow build block on the blue build block
+
+    '
+  subtask_index: 192
+- subtask: 'Put the  yellow build block on the behind of the  blue build block
+
+    '
+  subtask_index: 193
+- subtask: 'Put the green  build block on the right of the blue  build block
+
+    '
+  subtask_index: 194
+- subtask: 'Put the  orange build block on the right of the  yellow build block
+
+    '
+  subtask_index: 195
+- subtask: 'Put the red  build block on the behind of the green build block
+
+    '
+  subtask_index: 196
+- subtask: 'Put the   red build block in the center of the table
+
+    '
+  subtask_index: 197
+- subtask: 'Put the yellow  build block on the behind of the blue  build block
+
+    '
+  subtask_index: 198
+- subtask: 'Put the  green build block on the behind of the orange  build block
+
+    '
+  subtask_index: 199
+- subtask: 'Put the yellow  build block on the behind of the  red build block
+
+    '
+  subtask_index: 200
+- subtask: 'Put the green build block on the right of the yellow build block
+
+    '
+  subtask_index: 201
+- subtask: 'Put the green  build block on the red build block
+
+    '
+  subtask_index: 202
+- subtask: 'Put the blue  build block on the right of the  orange build block
+
+    '
+  subtask_index: 203
+- subtask: 'Put the red  build block on the behind of the orange  build block
+
+    '
+  subtask_index: 204
+- subtask: 'Put the red   build block in the center of the table
+
+    '
+  subtask_index: 205
+- subtask: 'Put the red  build block in the center of the table
+
+    '
+  subtask_index: 206
+- subtask: 'Put the  green build block on the right of the orange build block
+
+    '
+  subtask_index: 207
+- subtask: 'Put the green  build block on the front of the blue  build block
+
+    '
+  subtask_index: 208
+- subtask: 'Put the yellow  build block on the behind of the  orange build block
+
+    '
+  subtask_index: 209
+- subtask: 'Put the  yellow build block on the behind of the blue  build block
+
+    '
+  subtask_index: 210
+- subtask: 'Put the green build block on the blue build block
+
+    '
+  subtask_index: 211
+- subtask: Put the blue build block on the right of the yellow build block
+  subtask_index: 212
+- subtask: 'Put the  blue build block on the right of the  orange build block
+
+    '
+  subtask_index: 213
+- subtask: 'Put the orange  build block on the left of the red  build block
+
+    '
+  subtask_index: 214
+- subtask: 'Put the orange  build block on the right of the blue  build block
+
+    '
+  subtask_index: 215
+- subtask: 'Put the  blue build block on the front of the  green build block
+
+    '
+  subtask_index: 216
+- subtask: 'Put the  yellow build block on the  orange build block
+
+    '
+  subtask_index: 217
+- subtask: 'Put the yellow build block on the front of the red build block
+
+    '
+  subtask_index: 218
+- subtask: 'Put the orange  build block on the behind of the red  build block
+
+    '
+  subtask_index: 219
+- subtask: 'Put the  yellow build block on the behind of the  green  build block
+
+    '
+  subtask_index: 220
+- subtask: 'Put the  blue build block on the right of orange  the   build block
+
+    '
+  subtask_index: 221
+- subtask: 'Put the  red build block on the right of the  blue build block
+
+    '
+  subtask_index: 222
+- subtask: 'Put the green  build block on the behind of the  orange build block
+
+    '
+  subtask_index: 223
+- subtask: 'Put the  green  build block on the behind of the  yellow  build block
+
+    '
+  subtask_index: 224
+- subtask: 'Put the yellow  build block on the right of the  green build block
+
+    '
+  subtask_index: 225
+- subtask: 'Put the orange  build block on the right of the green build block
+
+    '
+  subtask_index: 226
+- subtask: 'Put the orange build block on the right of the yellow build block
+
+    '
+  subtask_index: 227
+- subtask: 'Put the red build block on the green build block
+
+    '
+  subtask_index: 228
+- subtask: 'Put the red  build block on the right of the  blue build block
+
+    '
+  subtask_index: 229
+- subtask: 'Put the blue build block on the behind of the  green build block
+
+    '
+  subtask_index: 230
+- subtask: 'Put the  orange  build block on the right of the red build block
+
+    '
+  subtask_index: 231
+- subtask: 'Put the blue  build block on the  red build block
+
+    '
+  subtask_index: 232
+- subtask: 'Put the  orange build block on the right of the blue build block
+
+    '
+  subtask_index: 233
+- subtask: 'Put the orange  build block on the left of the yellow build block
+
+    '
+  subtask_index: 234
+- subtask: 'Put the right  build block on the right of the  yellow build block
+
+    '
+  subtask_index: 235
+- subtask: 'Put the green build block on the right of the red build block
+
+    '
+  subtask_index: 236
+- subtask: 'Put the  orange build block on the right of the green build block
+
+    '
+  subtask_index: 237
+- subtask: 'Put the blue build block in the center of the table
+
+    '
+  subtask_index: 238
+- subtask: 'Put the orange build block on the behind of the yellow build block
+
+    '
+  subtask_index: 239
+- subtask: 'Put the orange  build block on the right of the blue build block
+
+    '
+  subtask_index: 240
+- subtask: 'Put the orange  build block on the behind of the blue  build block
+
+    '
+  subtask_index: 241
+- subtask: 'Put the  red build block on the behind of the yellow  build block
+
+    '
+  subtask_index: 242
+- subtask: 'Put the ornage build block on the behind of the  green build block
+
+    '
+  subtask_index: 243
+- subtask: 'Put the blue  build block on the left of the yellow  build block
+
+    '
+  subtask_index: 244
+- subtask: 'Put the green  build block on the front of the  blue build block
+
+    '
+  subtask_index: 245
+- subtask: 'Put the green build block on the behind of the red build block
+
+    '
+  subtask_index: 246
+- subtask: 'Put the  green build block on the right of the orange  build block
+
+    '
+  subtask_index: 247
+- subtask: 'Put the  green build block on the right of the  orange build block
+
+    '
+  subtask_index: 248
+- subtask: 'Put the yellow build block on the behind of the red build block
+
+    '
+  subtask_index: 249
+- subtask: 'Put the blue build block on the green build block
+
+    '
+  subtask_index: 250
+- subtask: Put the blue  build block on the right of the  orange build block
+  subtask_index: 251
+- subtask: 'Put the orange  build block on the right of the  green build block
+
+    '
+  subtask_index: 252
+- subtask: 'Put the orange  build block on the behind of the   yellow build block
+
+    '
+  subtask_index: 253
+- subtask: 'Put the  green  build block in the center of the table
+
+    '
+  subtask_index: 254
+- subtask: 'Put the blue  build block on the behind of the  orange build block
+
+    '
+  subtask_index: 255
+- subtask: Put the green  build block on the left of the  orange build block
+  subtask_index: 256
+- subtask: 'Put the  green build block on the right of the  yellow build block
+
+    '
+  subtask_index: 257
+- subtask: 'Put the  green build block on the left of the  blue  build block
+
+    '
+  subtask_index: 258
+- subtask: 'Put the  orange build block on the right of the  green build block
+
+    '
+  subtask_index: 259
+- subtask: 'Put the green  build block on the  orange build block
+
+    '
+  subtask_index: 260
+- subtask: 'Put the  blue build block on the behind of the green  build block
+
+    '
+  subtask_index: 261
+- subtask: 'Put the  yellow build block on the behind of the  red build block
+
+    '
+  subtask_index: 262
+- subtask: 'Put the orange  build block on the  green build block
+
+    '
+  subtask_index: 263
+- subtask: 'Put the red  build block on the behind of the  blue build block
+
+    '
+  subtask_index: 264
+- subtask: 'Put the blue  build block on the right of the orange build block
+
+    '
+  subtask_index: 265
+- subtask: move the build block to the center of the table
+  subtask_index: 266
+- subtask: 'Put the  green build block on the right of the red  build block
+
+    '
+  subtask_index: 267
+- subtask: 'Put the red  build block on the behind of the  green build block
+
+    '
+  subtask_index: 268
+- subtask: 'Put the red  build block on the behind of the blue  build block
+
+    '
+  subtask_index: 269
+- subtask: 'Put the  yellow build block on the behind of the orange  build block
+
+    '
+  subtask_index: 270
+- subtask: 'Put the red  build block on the right of the orange build block
+
+    '
+  subtask_index: 271
+- subtask: 'Put the green  build block on the right of the yellow build block
+
+    '
+  subtask_index: 272
+- subtask: 'Put the red  build block on the right of the yellow build block
+
+    '
+  subtask_index: 273
+- subtask: 'Put the  red  build block in the center of the table
+
+    '
+  subtask_index: 274
+- subtask: Put the red build block on the right of the blue build block
+  subtask_index: 275
+- subtask: Put the yellow  build block on the behind of the  green build block
+  subtask_index: 276
+- subtask: 'Put the  red  build block on the right of the orange build block
+
+    '
+  subtask_index: 277
+- subtask: 'Put the blue build block on the right of the orange build block
+
+    '
+  subtask_index: 278
+- subtask: 'Put the orange  build block on the behind of the  green build block
+
+    '
+  subtask_index: 279
+- subtask: 'Put the blue  build block on the front of the green  build block
+
+    '
+  subtask_index: 280
+- subtask: 'Put the  ornage build block on the behind of the  blue build block
+
+    '
+  subtask_index: 281
+- subtask: 'Put the yellow  build block on the behind of the orange  build block
+
+    '
+  subtask_index: 282
+- subtask: 'Put the green  build block on the behind of the blue  build block
+
+    '
+  subtask_index: 283
+- subtask: 'Put the  green build block on the left of the  blue build block
+
+    '
+  subtask_index: 284
+- subtask: 'Put the   blue build block in the center of the table
+
+    '
+  subtask_index: 285
+- subtask: 'Put the green  build block on the right of the  yellow build block
+
+    '
+  subtask_index: 286
+- subtask: Put the  yellow build block on the behind of the  blue  build block
+  subtask_index: 287
+- subtask: 'Put the  green  build block on the right of the orange build block
+
+    '
+  subtask_index: 288
+- subtask: 'Put the green  build block on the  blue build block
+
+    '
+  subtask_index: 289
+- subtask: 'Put the  orange build block on the behind of the  blue build block
+
+    '
+  subtask_index: 290
+- subtask: 'Put the red  build block on the behind of the  yellow build block
+
+    '
+  subtask_index: 291
+- subtask: 'Put the orange  build block on the  blue  build block
+
+    '
+  subtask_index: 292
+- subtask: 'Put the green  build block on the right of the  orange  build block
+
+    '
+  subtask_index: 293
+- subtask: 'Put the orange  build block on the left of the  red build block
+
+    '
+  subtask_index: 294
+- subtask: Put the  green  build block in the center of the table
+  subtask_index: 295
+- subtask: 'null'
+  subtask_index: 296
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_chest_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_chest_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: 238
+  total_frames: 232528
+  fps: 30
+  total_tasks: 297
+  total_videos: 952
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 4
+  dataset_size: 2.20 GB
+frame_num: 232528
+dataset_size: 2.20 GB
+data_structure: 'Agilex_Cobot_Magic_connect_block_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (226 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:237
+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_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml

@@ -0,0 +1,501 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_erase_board_passing_right_to_left
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: education
+  level2: school
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard
+  level1: stationery
+  level2: whiteboard
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use the right gripper to place the eraser in the left, use the left gripper to pick
+  up the eraser, wipe the notes on the whiteboard clean, and then put it down.
+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: Abnormal
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Move the eraser to the left side of the blackboard with the right gripper
+  subtask_index: 4
+- subtask: Grasp the eraser and wipe the blackboard with the left gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- lift
+- wipe
+- handover
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 47
+  total_frames: 38184
+  fps: 30
+  total_tasks: 7
+  total_videos: 141
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 334.71 MB
+frame_num: 38184
+dataset_size: 334.71 MB
+data_structure: 'Agilex_Cobot_Magic_erase_board_passing_right_to_left_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (35 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:46
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml

@@ -0,0 +1,501 @@
+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_right
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: education
+  level2: school
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard
+  level1: stationery
+  level2: whiteboard
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use the right gripper to pick up the board eraser, wipe the notes on the whiteboard
+  clean, and then put them back in place.
+sub_tasks:
+- subtask: Right gripper
+  subtask_index: 0
+- subtask: Wipe off the writing on the board with right gripper
+  subtask_index: 1
+- subtask: Place the board eraser on the right side of board with right gripper
+  subtask_index: 2
+- subtask: Move the board eraser to the right of the whiteboard with right gripper
+  subtask_index: 3
+- subtask: Pick up the board eraser with right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- lift
+- wipe
+- handover
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 28998
+  fps: 30
+  total_tasks: 7
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 249.99 MB
+frame_num: 28998
+dataset_size: 249.99 MB
+data_structure: 'Agilex_Cobot_Magic_erase_board_right_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml

@@ -0,0 +1,505 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_fold_shorts_khaki
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bedroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: khaki_shorts
+  level1: clothing
+  level2: khaki_shorts
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_tray
+  level1: kitchen_supplies
+  level2: green_tray
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- fold the khaki jeans in half with two grippers, then fold them in half again, and
+  use the left claw to place the folded fold khaki jeans on the tray.
+sub_tasks:
+- subtask: Fold the khaki trousers from right to left with the right gripper
+  subtask_index: 0
+- subtask: Fold the khaki trousers upwards with the right gripper
+  subtask_index: 1
+- subtask: Fold the khaki trousers from left to right with the left gripper
+  subtask_index: 2
+- subtask: Fold the khaki trousers upwards with the left gripper
+  subtask_index: 3
+- subtask: Place the folded khaki trousers on the green tray with the left gripper
+  subtask_index: 4
+- subtask: Grasp the khaki trousers with the left gripper
+  subtask_index: 5
+- subtask: Grasp the khaki trousers with the right gripper
+  subtask_index: 6
+- subtask: end
+  subtask_index: 7
+- subtask: 'null'
+  subtask_index: 8
+atomic_actions:
+- grasp
+- lift
+- lower
+- fold
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 55392
+  fps: 30
+  total_tasks: 9
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 637.64 MB
+frame_num: 55392
+dataset_size: 637.64 MB
+data_structure: 'Agilex_Cobot_Magic_fold_shorts_khaki_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml

@@ -0,0 +1,511 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_storage_orange_basket_left
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_basket
+  level1: home_storage
+  level2: brown_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: orange
+  level1: food
+  level2: orange
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- left gripper grabs oranges and puts them in the basket.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Place the orange in the basket with left gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Grasp the orange with left gripper
+  subtask_index: 3
+- subtask: 'null'
+  subtask_index: 4
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 99
+  total_frames: 40181
+  fps: 30
+  total_tasks: 5
+  total_videos: 297
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 488.80 MB
+frame_num: 40181
+dataset_size: 488.80 MB
+data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_left_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (87 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:98
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_close_drawer.yaml

@@ -0,0 +1,418 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_close_drawer
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: layer_transparent_drawer
+  level1: storage_utensils
+  level2: 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 top drawer by hand.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Close the top drawer with the right hand
+  subtask_index: 1
+- subtask: 'null'
+  subtask_index: 2
+atomic_actions:
+- push
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 7377
+  fps: 30
+  total_tasks: 3
+  total_videos: 200
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 217.36 MB
+frame_num: 7377
+dataset_size: 217.36 MB
+data_structure: "Airbot_MMK2_close_drawer_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
+  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
+  \ |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n\
+  |-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (38 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
+  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
+  \ observation.images.cam_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_close_lid.yaml

@@ -0,0 +1,426 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_close_lid
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: any_storage_box
+  level1: storage utensils
+  level2: any_storage_box
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- close the box lid by hand.
+sub_tasks:
+- subtask: Touch the box lid with the left gripper
+  subtask_index: 0
+- subtask: Close the box lid with the left gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Touch the box lid with the right gripper
+  subtask_index: 3
+- subtask: Abnormal
+  subtask_index: 4
+- subtask: Close the box lid with the right gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- close
+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: 239
+  total_frames: 28930
+  fps: 30
+  total_tasks: 7
+  total_videos: 956
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 965.25 MB
+frame_num: 28930
+dataset_size: 965.25 MB
+data_structure: "Airbot_MMK2_close_lid_qced_hardlink/\n|-- annotations\n|   |-- eef_acc_mag_annotation.jsonl\n\
+  |   |-- eef_direction_annotation.jsonl\n|   |-- eef_velocity_annotation.jsonl\n\
+  |   |-- gripper_activity_annotation.jsonl\n|   |-- gripper_mode_annotation.jsonl\n\
+  |   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n|-- data\n|\
+  \   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (227 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: 0:238
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_dial_number.yaml

@@ -0,0 +1,427 @@
+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_dial_number
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bedroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: mobile_phone
+  level1: appliances
+  level2: mobile_phone
+  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 phone button and then put it down.
+sub_tasks:
+- subtask: Dial the number with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Lift the phone with the right gripper
+  subtask_index: 2
+- subtask: Grasp the phone with the right gripper
+  subtask_index: 3
+- subtask: Place the phone on the table with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+- press
+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: 98
+  total_frames: 41296
+  fps: 30
+  total_tasks: 6
+  total_videos: 392
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 1.39 GB
+frame_num: 41296
+dataset_size: 1.39 GB
+data_structure: "Airbot_MMK2_dial_number_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_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_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:97
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml

@@ -0,0 +1,445 @@
+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_apple_orange_pomegranate
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: apple
+  level1: fruits
+  level2: apple
+  level3: null
+  level4: null
+  level5: null
+- object_name: pomegranate
+  level1: fruits
+  level2: pomegranate
+  level3: null
+  level4: null
+  level5: null
+- object_name: orange
+  level1: fruits
+  level2: orange
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- arrange apples, oranges, and pomegranates neatly.
+sub_tasks:
+- subtask: place the orange on the right side of the table with the right gripper
+  subtask_index: 0
+- subtask: Grasp the orange with the right gripper
+  subtask_index: 1
+- subtask: place the pomegranate on the middle side of the table with the right gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: place the apple on the left side of the table with the left gripper
+  subtask_index: 4
+- subtask: Grasp the apple with the left gripper
+  subtask_index: 5
+- subtask: Abnormal
+  subtask_index: 6
+- subtask: Grasp the pomegranate with the right gripper
+  subtask_index: 7
+- subtask: 'null'
+  subtask_index: 8
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 59
+  total_frames: 30023
+  fps: 30
+  total_tasks: 9
+  total_videos: 236
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 1.09 GB
+frame_num: 30023
+dataset_size: 1.09 GB
+data_structure: "Airbot_MMK2_move_apple_orange_pomegranate_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (47 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: 0:58
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_block_both_hands.yaml

@@ -0,0 +1,428 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_move_block_both_hands
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the building blocks with both hands simultaneously and place them on the
+  blocks.
+sub_tasks:
+- subtask: Place the blue block on top of the red block with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Grasp the green block with the right gripper
+  subtask_index: 2
+- subtask: Grasp the blue block with the left gripper
+  subtask_index: 3
+- subtask: Place the green block on top of the yellow block with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 54
+  total_frames: 8888
+  fps: 30
+  total_tasks: 6
+  total_videos: 216
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 388.10 MB
+frame_num: 8888
+dataset_size: 388.10 MB
+data_structure: "Airbot_MMK2_move_block_both_hands_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (42 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:53
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml

@@ -0,0 +1,501 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_move_block_wet_wipes
+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: white_tray
+  level1: kitchen_supplies
+  level2: white_tray
+  level3: null
+  level4: null
+  level5: null
+- object_name: arch_building_blocks
+  level1: toys
+  level2: arch_building_blocks
+  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 wet wipes and building blocks into the white tray respectively with your
+  left and right hands.
+sub_tasks:
+- subtask: Place the arched build blocks on the white board with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Grasp the wet wipes with the left gripper
+  subtask_index: 2
+- subtask: Grasp the arched build blocks with the right gripper
+  subtask_index: 3
+- subtask: Place the wet wipes on the white board with the left gripper
+  subtask_index: 4
+- subtask: Abnormal
+  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: 60
+  total_frames: 15271
+  fps: 30
+  total_tasks: 7
+  total_videos: 240
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 479.18 MB
+frame_num: 15271
+dataset_size: 479.18 MB
+data_structure: 'Airbot_MMK2_move_block_wet_wipes_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (48 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_rgb
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:59
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_cake.yaml

@@ -0,0 +1,504 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_move_cake
+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: shelf
+  level1: home_storage
+  level2: shelf
+  level3: null
+  level4: null
+  level5: null
+- object_name: cake
+  level1: bread
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- place two cakes on the shelf with each hand respectively.
+sub_tasks:
+- subtask: Place the ice cream into the plate with the right gripper
+  subtask_index: 0
+- subtask: Place the cake onto the block toy with the right gripper
+  subtask_index: 1
+- subtask: Grasp the cake with the left gripper
+  subtask_index: 2
+- subtask: Place the cake on the yellow cube block with the left gripper
+  subtask_index: 3
+- subtask: Place the cake on the blue cube block with the right gripper
+  subtask_index: 4
+- subtask: Place the cake onto the block toy with the left gripper
+  subtask_index: 5
+- subtask: Grasp the cake with the right gripper
+  subtask_index: 6
+- subtask: Static
+  subtask_index: 7
+- subtask: Grasp the cake from the table and with the right gripper
+  subtask_index: 8
+- subtask: Grasp the cake from the table and with the left gripper
+  subtask_index: 9
+- subtask: End
+  subtask_index: 10
+- subtask: 'null'
+  subtask_index: 11
+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: 94
+  total_frames: 22873
+  fps: 30
+  total_tasks: 12
+  total_videos: 376
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 1009.39 MB
+frame_num: 22873
+dataset_size: 1009.39 MB
+data_structure: 'Airbot_MMK2_move_cake_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (82 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_rgb
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:93
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_pan.yaml

@@ -0,0 +1,434 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_move_pan
+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: pan
+  level1: cookware
+  level2: pan
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- push the pan to the edge of the table with your left hand and place it on the building
+  block with your right hand.
+sub_tasks:
+- subtask: Grasp the frying pan with the right gripper
+  subtask_index: 0
+- subtask: Abnormal
+  subtask_index: 1
+- subtask: Place the frying pan on the red cube block with the right gripper
+  subtask_index: 2
+- subtask: Push the frying pan on left to right with the left gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- push
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 48
+  total_frames: 14881
+  fps: 30
+  total_tasks: 6
+  total_videos: 192
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 764.06 MB
+frame_num: 14881
+dataset_size: 764.06 MB
+data_structure: "Airbot_MMK2_move_pan_qced_hardlink/\n|-- annotations\n|   |-- eef_acc_mag_annotation.jsonl\n\
+  |   |-- eef_direction_annotation.jsonl\n|   |-- eef_velocity_annotation.jsonl\n\
+  |   |-- gripper_activity_annotation.jsonl\n|   |-- gripper_mode_annotation.jsonl\n\
+  |   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n|-- data\n|\
+  \   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (36 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
+  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
+  \ observation.images.cam_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:47
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_sword_doll.yaml

@@ -0,0 +1,435 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_move_sword_doll
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bedroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: white_basket
+  level1: home_storage
+  level2: white_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: shark_doll
+  level1: toys
+  level2: shark_doll
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the shark doll on the white box.
+sub_tasks:
+- subtask: Place the shark dagger on the white basket with the right gripper
+  subtask_index: 0
+- subtask: Grasp the shark dagger with the left gripper
+  subtask_index: 1
+- subtask: Place the shark dagger on the white basket with the left gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Grasp the shark dagger with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- lift
+- lower
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 48
+  total_frames: 5383
+  fps: 30
+  total_tasks: 7
+  total_videos: 192
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 226.25 MB
+frame_num: 5383
+dataset_size: 226.25 MB
+data_structure: "Airbot_MMK2_move_sword_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|       `-- ... (36 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:47
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml

@@ -0,0 +1,445 @@
+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_umbrella_tissues
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: tissue_box
+  level1: kitchen_suppliesy
+  level2: tissue_box
+  level3: null
+  level4: null
+  level5: null
+- object_name: umbrella
+  level1: daily_necessities
+  level2: umbrella
+  level3: null
+  level4: null
+  level5: null
+- object_name: lid
+  level1: laboratory_supplies
+  level2: lid
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the umbrella and tissues on the lid.
+sub_tasks:
+- subtask: Grasp the umbrella with the left gripper
+  subtask_index: 0
+- subtask: Grasp the tissue with the right gripper
+  subtask_index: 1
+- subtask: Place the tissue on the white lid with the right gripper
+  subtask_index: 2
+- subtask: Place the umbrella on the white lid with the left gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- garsp
+- 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: 8709
+  fps: 30
+  total_tasks: 6
+  total_videos: 196
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 327.64 MB
+frame_num: 8709
+dataset_size: 327.64 MB
+data_structure: "Airbot_MMK2_move_umbrella_tissues_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (37 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:48
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml

@@ -0,0 +1,433 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_pick_up_and_place_tub
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bathroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: washbasin
+  level1: home_storage
+  level2: washbasin
+  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 washbasin and put it down.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Lift the basin with the left gripper
+  subtask_index: 1
+- subtask: Grasp the basin with the left gripper
+  subtask_index: 2
+- subtask: Grasp the basin with the right gripper
+  subtask_index: 3
+- subtask: Place basin on the table with the right gripper
+  subtask_index: 4
+- subtask: Place basin on the table with the left gripper
+  subtask_index: 5
+- subtask: Abnormal
+  subtask_index: 6
+- subtask: Lift the basin with the right gripper
+  subtask_index: 7
+- subtask: 'null'
+  subtask_index: 8
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 98
+  total_frames: 16632
+  fps: 30
+  total_tasks: 9
+  total_videos: 392
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 607.45 MB
+frame_num: 16632
+dataset_size: 607.45 MB
+data_structure: "Airbot_MMK2_pick_up_and_place_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|       `-- ... (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_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:97
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_play_toy_piano.yaml

@@ -0,0 +1,434 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_play_toy_piano
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: toy_piano
+  level1: toy
+  level2: toy_piano
+  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 piano in the middle with your left hand and play the piano with your
+  right hand.
+sub_tasks:
+- subtask: Play the toy piano with the right gripper
+  subtask_index: 0
+- subtask: Place the toy piano on the table with the left gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Grasp the toy piano with the left gripper
+  subtask_index: 3
+- subtask: Lift the toy piano with the left gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+- press
+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: 7683
+  fps: 30
+  total_tasks: 6
+  total_videos: 200
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 230.15 MB
+frame_num: 7683
+dataset_size: 230.15 MB
+data_structure: "Airbot_MMK2_play_toy_piano_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
+  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
+  \ |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n\
+  |-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (38 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
+  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
+  \ observation.images.cam_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_prepare_tea.yaml

@@ -0,0 +1,450 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_prepare_tea
+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: small_teapot
+  level1: teacus
+  level2: small_teapot
+  level3: null
+  level4: null
+  level5: null
+- object_name: inner_pot_of_the_teapot
+  level1: kitchen_supplies
+  level2: inner_pot_of_the_teapot
+  level3: null
+  level4: null
+  level5: null
+- object_name: tea_canister
+  level1: tea_bags
+  level2: tea_canister
+  level3: null
+  level4: null
+  level5: null
+- object_name: tea
+  level1: tea_bags
+  level2: tea
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- with the right hand, take out the tea leaves from the tea canister and put them
+  into the inner pot of the teapot. with the left hand, put the inner pot of the teapot
+  into the teapot and then close the lid of the teapot.
+sub_tasks:
+- subtask: Place the tea leaves into the tea strainer with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Close the teapot lid with the left gripper
+  subtask_index: 2
+- subtask: Grasp the tea strainer with the left gripper
+  subtask_index: 3
+- subtask: Abnormal
+  subtask_index: 4
+- subtask: Place the tea strainer into the teapot with the left gripper
+  subtask_index: 5
+- subtask: Grasp the tea leaves with the right gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 89
+  total_frames: 70954
+  fps: 30
+  total_tasks: 8
+  total_videos: 356
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 2.99 GB
+frame_num: 70954
+dataset_size: 2.99 GB
+data_structure: "Airbot_MMK2_prepare_tea_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_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\
+  |       `-- ... (77 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: 0:88
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_push_away_book.yaml

@@ -0,0 +1,424 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_push_away_book
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: book
+  level1: stationery
+  level2: book
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pull out a book by hand.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Abnormal
+  subtask_index: 1
+- subtask: Lay the book down with the right gripper
+  subtask_index: 2
+- subtask: Hold the book with the right gripper
+  subtask_index: 3
+- subtask: 'null'
+  subtask_index: 4
+atomic_actions:
+- pinch
+- clip
+- 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: 244
+  total_frames: 36575
+  fps: 30
+  total_tasks: 5
+  total_videos: 976
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 1.40 GB
+frame_num: 36575
+dataset_size: 1.40 GB
+data_structure: "Airbot_MMK2_push_away_book_qced_hardlink/\n|-- annotations\n|   |--\
+  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
+  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
+  \ |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n\
+  |-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (232 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: 0:243
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_rotate_cube_face.yaml

@@ -0,0 +1,434 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_rotate_cube_face
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: rubik's_cube
+  level1: toys
+  level2: rubik's_cube
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the rubik's cube with left hand, rotate it once with right hand, and then
+  put it down with left hand.
+sub_tasks:
+- subtask: Adjust the rubik's cube with the left gripper
+  subtask_index: 0
+- subtask: Grasp the rubik's cube with the left gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Place the rubik's cube on the table with the left gripper
+  subtask_index: 3
+- subtask: Move the rightmost combination block of the rubik's cube with the right
+    gripper
+  subtask_index: 4
+- subtask: Abnormal
+  subtask_index: 5
+- subtask: Lift up the rubik's cube with the left gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+- filp
+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: 145
+  total_frames: 55057
+  fps: 30
+  total_tasks: 8
+  total_videos: 580
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 2.13 GB
+frame_num: 55057
+dataset_size: 2.13 GB
+data_structure: "Airbot_MMK2_rotate_cube_face_qced_hardlink/\n|-- annotations\n| \
+  \  |-- eef_acc_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|       `-- ... (133 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: 0:144
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_apple_orange.yaml

@@ -0,0 +1,442 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_apple_orange
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: scene_level1
+  level2: scene_level2
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: apple
+  level1: fruits
+  level2: apple
+  level3: null
+  level4: null
+  level5: null
+- object_name: orange
+  level1: fruits
+  level2: orange
+  level3: null
+  level4: null
+  level5: null
+- object_name: storage_box
+  level1: storage_utensils
+  level2: storage_box
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the apple with left hand and put it in the storage box, and pick up the
+  orange with right hand and put it in the storage box.
+sub_tasks:
+- subtask: Grasp the orange with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the orange into the right compartment of the storage box with the
+    right gripper
+  subtask_index: 2
+- subtask: Grasp the apple with the left gripper
+  subtask_index: 3
+- subtask: Place the  apple into the left compartment of the storage box with the
+    left gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 41
+  total_frames: 6657
+  fps: 30
+  total_tasks: 6
+  total_videos: 164
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 176.34 MB
+frame_num: 6657
+dataset_size: 176.34 MB
+data_structure: "Airbot_MMK2_storage_apple_orange_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_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|       `-- ... (29 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: 0:40
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_bell_pepper.yaml

@@ -0,0 +1,441 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_bell_pepper
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: scene_level1
+  level2: scene_level2
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: red_bell_pepper
+  level1: vegetables
+  level2: red_bell_pepper
+  level3: null
+  level4: null
+  level5: null
+- object_name: yellow_bell_pepper
+  level1: vegetables
+  level2: yellow_bell_pepper
+  level3: null
+  level4: null
+  level5: null
+- object_name: white_basket
+  level1: basket
+  level2: white_basket
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- put the red peppers and yellow peppers into the box.
+sub_tasks:
+- subtask: Place the yellow pepper into the left compartment of the storage box with
+    the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Grasp the green pepper with the right gripper
+  subtask_index: 2
+- subtask: Place the green pepper into the right compartment of the storage box with
+    the right gripper
+  subtask_index: 3
+- subtask: Grasp the yellow pepper with the left gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 48
+  total_frames: 7525
+  fps: 30
+  total_tasks: 6
+  total_videos: 192
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 200.59 MB
+frame_num: 7525
+dataset_size: 200.59 MB
+data_structure: "Airbot_MMK2_storage_bell_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|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (36 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:47
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_bowl.yaml

@@ -0,0 +1,432 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_bowl
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: catering
+  level2: restaurant
+  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: plastic_bowls
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: basin
+  level1: storage_boxes
+  level2: basin
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick the bowls on the table by hands and place them into the yellow basin.
+sub_tasks:
+- subtask: Grasp the pink bowl with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Grasp the white bowl with the right gripper
+  subtask_index: 2
+- subtask: Place the pink bowl into the yellow storage box with the left gripper
+  subtask_index: 3
+- subtask: Place the white bowl into the yellow storage box with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 46
+  total_frames: 10955
+  fps: 30
+  total_tasks: 6
+  total_videos: 184
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 432.12 MB
+frame_num: 10955
+dataset_size: 432.12 MB
+data_structure: "Airbot_MMK2_storage_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\
+  |       `-- ... (34 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: 0:45
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_cookie_cup.yaml

@@ -0,0 +1,439 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_cookie_cup
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: plate
+  level1: kitchen_supplies
+  level2: plate
+  level3: null
+  level4: null
+  level5: null
+- object_name: macaron
+  level1: bread
+  level2: macaron
+  level3: null
+  level4: null
+  level5: null
+- object_name: refreshing_beer
+  level1: beverages
+  level2: refreshing_beer
+  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 cookies and beer into the plate respectively with left and right hands.
+sub_tasks:
+- subtask: Place the beer mug on the white basket with the right gripper
+  subtask_index: 0
+- subtask: Place the bagged cookies on the white basket with the left gripper
+  subtask_index: 1
+- subtask: Grasp the bagged cookies with the left gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Grasp the beer mug with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 47
+  total_frames: 9983
+  fps: 30
+  total_tasks: 6
+  total_videos: 188
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 488.86 MB
+frame_num: 9983
+dataset_size: 488.86 MB
+data_structure: "Airbot_MMK2_storage_cookie_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|       `-- ... (35 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:46
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_cup_plate.yaml

@@ -0,0 +1,435 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_cup_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: any_cup
+  level1: cups
+  level2: any_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: white_small_plate
+  level1: plates
+  level2: white_small_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:
+- pick up the cups on the table by hand and place them on the white plate.
+sub_tasks:
+- subtask: Grasp the purple cup with the right gripper
+  subtask_index: 0
+- subtask: Grasp the blue cup with the left gripper
+  subtask_index: 1
+- subtask: Place the blue cup on the plate with the left gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Place the purple cup on the blue cup with the right gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- clip
+- place
+- lift
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 44
+  total_frames: 11727
+  fps: 30
+  total_tasks: 7
+  total_videos: 176
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 500.23 MB
+frame_num: 11727
+dataset_size: 500.23 MB
+data_structure: "Airbot_MMK2_storage_cup_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|       `-- ... (32 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:43
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml

@@ -0,0 +1,433 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_egg_yellow_box
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: egg
+  level1: food
+  level2: egg
+  level3: null
+  level4: null
+  level5: null
+- object_name: egg_carton
+  level1: disposable_items
+  level2: egg_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:
+- use hands to pick the egg on the table and place them into the egg carton.
+sub_tasks:
+- subtask: Close the lid of the egg storage box with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the egg into the egg storage box with the right gripper
+  subtask_index: 2
+- subtask: Grasp the egg with the right gripper
+  subtask_index: 3
+- subtask: Abnormal
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 249
+  total_frames: 68503
+  fps: 30
+  total_tasks: 6
+  total_videos: 996
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 2.69 GB
+frame_num: 68503
+dataset_size: 2.69 GB
+data_structure: "Airbot_MMK2_storage_egg_yellow_box_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (237 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: 0:248
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_lemon_mango.yaml

@@ -0,0 +1,443 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_lemon_mango
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: lemon
+  level1: fruits
+  level2: lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: mango
+  level1: fruits
+  level2: mango
+  level3: null
+  level4: null
+  level5: null
+- object_name: storage_box
+  level1: storage_utensils
+  level2: storage_box
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- grab the mango with left hand and the lemon with right hand, and put them into the
+  storage box.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Place the lemon into the right compartment of the storage box with the
+    right gripper
+  subtask_index: 1
+- subtask: Place the  mango into the left compartment of the storage box with the
+    left gripper
+  subtask_index: 2
+- subtask: Grasp the mango with the left gripper
+  subtask_index: 3
+- subtask: Grasp the lemon with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- pinch
+- place
+- clip
+- lift
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 49
+  total_frames: 7685
+  fps: 30
+  total_tasks: 6
+  total_videos: 196
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 201.65 MB
+frame_num: 7685
+dataset_size: 201.65 MB
+data_structure: "Airbot_MMK2_storage_lemon_mango_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (37 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:48
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml

@@ -0,0 +1,440 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_network_cable_paper_box
+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: box
+  level1: home_storage
+  level2: box
+  level3: null
+  level4: null
+  level5: null
+- object_name: carton
+  level1: home_storage
+  level2: carton
+  level3: null
+  level4: null
+  level5: null
+- object_name: cable
+  level1: appliances
+  level2: cable
+  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 box with left hand and put it in the lid, and pick up the cable with
+  right hand and put it in the lid.
+sub_tasks:
+- subtask: Grasp the mouse box with the left gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Place the mouse box into the carton with the left gripper
+  subtask_index: 2
+- subtask: Place the network cable into the carton with the right gripper
+  subtask_index: 3
+- subtask: Grasp the network cable with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 60
+  total_frames: 17028
+  fps: 30
+  total_tasks: 6
+  total_videos: 240
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 729.48 MB
+frame_num: 17028
+dataset_size: 729.48 MB
+data_structure: "Airbot_MMK2_storage_network_cable_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|   |-- 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|       `-- ... (48 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: 0:59
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml

@@ -0,0 +1,443 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_paper_box_sponge
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: small_black_boxes
+  level1: home_storage
+  level2: small_black_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:
+- put the box and the sponge into the plate respectively with left and right hands.
+sub_tasks:
+- subtask: Grasp the sponge with the right gripper
+  subtask_index: 0
+- subtask: Place the sponge on the white plate with the right gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Static
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Place the box on the white plate with the left gripper
+  subtask_index: 5
+- subtask: Grasp the box 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: 49
+  total_frames: 9624
+  fps: 30
+  total_tasks: 8
+  total_videos: 196
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 304.37 MB
+frame_num: 9624
+dataset_size: 304.37 MB
+data_structure: "Airbot_MMK2_storage_paper_box_sponge_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (37 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:48
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_pineapple.yaml

@@ -0,0 +1,429 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_pineapple
+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: pineapple
+  level1: fruit
+  level2: pineapple
+  level3: null
+  level4: null
+  level5: null
+- object_name: storage_box
+  level1: storage_utensils
+  level2: storage_box
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the pineapple with right hand and put it into the storage box.
+sub_tasks:
+- subtask: Place the pineapple into the storage box with the right gripper
+  subtask_index: 0
+- subtask: End
+  subtask_index: 1
+- subtask: Grasp the pineapple with the right gripper
+  subtask_index: 2
+- subtask: 'null'
+  subtask_index: 3
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 49
+  total_frames: 5219
+  fps: 30
+  total_tasks: 4
+  total_videos: 196
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 140.76 MB
+frame_num: 5219
+dataset_size: 140.76 MB
+data_structure: "Airbot_MMK2_storage_pineapple_qced_hardlink/\n|-- annotations\n|\
+  \   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (37 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:48
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_potato_left.yaml

@@ -0,0 +1,439 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_potato_left
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: potato
+  level1: vegetables
+  level2: potato
+  level3: null
+  level4: null
+  level5: null
+- object_name: storage_box
+  level1: storage_utensils
+  level2: storage_box
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the potato with left hand and put it in the storage box.
+sub_tasks:
+- subtask: Grasp the potato with the right gripper
+  subtask_index: 0
+- subtask: Grasp the potato with the left gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Place the potato into the left compartment of the storage box with the
+    left gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Static
+  subtask_index: 5
+- subtask: Place the potato into the right compartment of the storage box with the
+    right gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 69
+  total_frames: 8728
+  fps: 30
+  total_tasks: 8
+  total_videos: 276
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 322.26 MB
+frame_num: 8728
+dataset_size: 322.26 MB
+data_structure: "Airbot_MMK2_Airbot_MMK2_storage_potato_left_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (57 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:68
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml

@@ -0,0 +1,442 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_potato_pumpkin
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: potato
+  level1: vegetables
+  level2: potato
+  level3: null
+  level4: null
+  level5: null
+- object_name: pumpkin
+  level1: vegetables
+  level2: pumpkin
+  level3: null
+  level4: null
+  level5: null
+- object_name: storage_box
+  level1: storage_utensils
+  level2: storage_box
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the potato with left hand and put it in the storage box, and pick up the
+  pumpkin with right hand and put it in the storage box.
+sub_tasks:
+- subtask: Grasp the pumpkin with the right gripper
+  subtask_index: 0
+- subtask: Grasp the potato with the left gripper
+  subtask_index: 1
+- subtask: Place the potato into the left compartment of the storage box with the
+    left gripper
+  subtask_index: 2
+- subtask: End
+  subtask_index: 3
+- subtask: Place the pumpkin into the right compartment of the storage box with the
+    right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- pick
+- place
+- grasp
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 41
+  total_frames: 9965
+  fps: 30
+  total_tasks: 6
+  total_videos: 164
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 288.93 MB
+frame_num: 9965
+dataset_size: 288.93 MB
+data_structure: "Airbot_MMK2_Airbot_MMK2_storage_potato_pumpkin_qced_hardlink/\n|--\
+  \ annotations\n|   |-- eef_acc_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|       `-- ... (29 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: 0:40
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml

@@ -0,0 +1,431 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_pumpkin_left
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: pumpkin
+  level1: vegetables
+  level2: pumpkin
+  level3: null
+  level4: null
+  level5: null
+- object_name: bowl
+  level1: kitchen_supplies
+  level2: bowl
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the pumpkin with left hand and put it in the bowl.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Static
+  subtask_index: 1
+- subtask: Grasp the pumpkin with the left gripper
+  subtask_index: 2
+- subtask: Place the pumpkin on the pink bowl with the left gripper
+  subtask_index: 3
+- subtask: 'null'
+  subtask_index: 4
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 6026
+  fps: 30
+  total_tasks: 5
+  total_videos: 200
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 227.20 MB
+frame_num: 6026
+dataset_size: 227.20 MB
+data_structure: "Airbot_MMK2_Airbot_MMK2_storage_pumpkin_left_qced_hardlink/\n|--\
+  \ annotations\n|   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n\
+  |   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_storage_tissues_tub.yaml

@@ -0,0 +1,437 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_storage_tissues_tub
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: tissue_paper
+  level1: paper_towels
+  level2: tissue_paper
+  level3: null
+  level4: null
+  level5: null
+- object_name: basin
+  level1: storage_utensils
+  level2: basin
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- pick up the tissues on the table by hand and place them on the white tray.
+sub_tasks:
+- subtask: Grasp the tissue with the right gripper
+  subtask_index: 0
+- subtask: Abnormal
+  subtask_index: 1
+- subtask: Static
+  subtask_index: 2
+- subtask: Place the tissue into the brown basin with the right gripper
+  subtask_index: 3
+- subtask: Place the tissue into the brown basin with the left gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: Grasp the tissue with the left gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 49
+  total_frames: 6851
+  fps: 30
+  total_tasks: 8
+  total_videos: 196
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 207.40 MB
+frame_num: 6851
+dataset_size: 207.40 MB
+data_structure: "Airbot_MMK2_storage_tissues_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|       `-- ... (37 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:48
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml

@@ -0,0 +1,439 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_swap_apple_cake_plate
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: cake
+  level1: bread
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: plate
+  level1: kitchen_supplies
+  level2: plate
+  level3: null
+  level4: null
+  level5: null
+- object_name: apple
+  level1: fruit
+  level2: apple
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- take the cake out of the plate and put the apples in.
+sub_tasks:
+- subtask: Grasp the cake placed into the plate with the left gripper
+  subtask_index: 0
+- subtask: Grasp the apple with the right gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Place the cake on the table with the left gripper
+  subtask_index: 3
+- subtask: Place the apple into the plate with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 47
+  total_frames: 6775
+  fps: 30
+  total_tasks: 6
+  total_videos: 188
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 182.07 MB
+frame_num: 6775
+dataset_size: 182.07 MB
+data_structure: "Airbot_MMK2_swap_apple_cake_plate_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (35 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:46
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml

@@ -0,0 +1,442 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_swap_bbs_block_plate
+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: bb_pellets
+  level1: toys
+  level2: bb_pellets
+  level3: null
+  level4: null
+  level5: null
+- object_name: plate
+  level1: kitchen_supplies
+  level2: plate
+  level3: null
+  level4: null
+  level5: null
+- object_name: block_pillar
+  level1: toys
+  level2: block_pillar
+  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 bb balls out of the plate with left hand and put them back in with right
+  hand.
+sub_tasks:
+- subtask: Place the green rectangular block on the plate with the right gripper
+  subtask_index: 0
+- subtask: Place the bullet on the table with the left gripper
+  subtask_index: 1
+- subtask: Graasp the green rectangular block with the right gripper
+  subtask_index: 2
+- subtask: Abnormal
+  subtask_index: 3
+- subtask: Graasp the bullet on the plate and with the left 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: 50
+  total_frames: 9449
+  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: 295.93 MB
+frame_num: 9449
+dataset_size: 295.93 MB
+data_structure: "Airbot_MMK2_swap_bbs_block_plate_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (38 more entries)\n|-- meta\n\
+  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
+  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_rgb\n\
+  \        |-- observation.images.cam_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
+  \        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml

@@ -0,0 +1,441 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_swap_bread_cake_plate
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: cake
+  level1: bread
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: long_bread
+  level1: bread
+  level2: long_bread
+  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 cake out of the plate with left hand and put the bread in with right hand.
+sub_tasks:
+- subtask: Grasp the bread with the right gripper
+  subtask_index: 0
+- subtask: Place the cake on the table with the left gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: Place the bread into the plate with the right gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Grasp the cake on the plate with the left gripper
+  subtask_index: 5
+- subtask: 'null'
+  subtask_index: 6
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 41
+  total_frames: 11322
+  fps: 30
+  total_tasks: 7
+  total_videos: 164
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 475.32 MB
+frame_num: 11322
+dataset_size: 475.32 MB
+data_structure: "Airbot_MMK2_swap_bread_cake_plate_qced_hardlink/\n|-- annotations\n\
+  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
+  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
+  |   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `--\
+  \ subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
+  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
+  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
+  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
+  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
+  |       `-- episode_000011.parquet\n|       `-- ... (29 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: 0:40
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_take_block.yaml

@@ -0,0 +1,432 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_take_block
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: building_blocks
+  level1: toys
+  level2: building_blocks
+  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 building blocks off the white plate by hands.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Place red rectangular block on the table with the left gripper
+  subtask_index: 1
+- subtask: Grasp the red rectangular block on the plate with the left gripper
+  subtask_index: 2
+- subtask: Grasp the green rectangular block on the plate with the right gripper
+  subtask_index: 3
+- subtask: Place green rectangular block on the table with the right gripper
+  subtask_index: 4
+- subtask: 'null'
+  subtask_index: 5
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Airbot_MMK2
+end_effector_type: five_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+- cam_front_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 47
+  total_frames: 10270
+  fps: 30
+  total_tasks: 6
+  total_videos: 188
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 334.13 MB
+frame_num: 10270
+dataset_size: 334.13 MB
+data_structure: "Airbot_MMK2_take_block_qced_hardlink/\n|-- annotations\n|   |-- eef_acc_mag_annotation.jsonl\n\
+  |   |-- eef_direction_annotation.jsonl\n|   |-- eef_velocity_annotation.jsonl\n\
+  |   |-- gripper_activity_annotation.jsonl\n|   |-- gripper_mode_annotation.jsonl\n\
+  |   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n|-- data\n|\
+  \   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (35 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
+  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
+  \ observation.images.cam_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:46
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_take_book.yaml

@@ -0,0 +1,424 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Airbot_MMK2_take_book
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: book
+  level1: stationery
+  level2: book
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- take a book from the forward pile with hand.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Place the book on the table with the right gripper
+  subtask_index: 1
+- subtask: Hook the third book on the right with the right gripper
+  subtask_index: 2
+- subtask: 'null'
+  subtask_index: 3
+atomic_actions:
+- clip
+- pull
+- pick
+- takeout
+- 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: 98
+  total_frames: 28489
+  fps: 30
+  total_tasks: 4
+  total_videos: 392
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 1.03 GB
+frame_num: 28489
+dataset_size: 1.03 GB
+data_structure: "Airbot_MMK2_take_book_qced_hardlink/\n|-- annotations\n|   |-- eef_acc_mag_annotation.jsonl\n\
+  |   |-- eef_direction_annotation.jsonl\n|   |-- eef_velocity_annotation.jsonl\n\
+  |   |-- gripper_activity_annotation.jsonl\n|   |-- gripper_mode_annotation.jsonl\n\
+  |   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n|-- data\n|\
+  \   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
+  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
+  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
+  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
+  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
+  |       `-- ... (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_front_rgb\n        |-- observation.images.cam_head_rgb\n\
+  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+splits:
+  train: 0:97
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Airbot_MMK2_turn_page.yaml

@@ -0,0 +1,420 @@
+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_turn_page
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: study_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: book
+  level1: stationery
+  level2: books
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- turn a page of the english book on the table with right hand.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Turn the book to the next page with the right gripper
+  subtask_index: 1
+- subtask: Abnormal
+  subtask_index: 2
+- subtask: 'null'
+  subtask_index: 3
+atomic_actions:
+- flip
+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: 149
+  total_frames: 19581
+  fps: 30
+  total_tasks: 4
+  total_videos: 596
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 36
+  action_dim: 36
+  camera_views: 4
+  dataset_size: 740.88 MB
+frame_num: 19581
+dataset_size: 740.88 MB
+data_structure: "Airbot_MMK2_turn_page_qced_hardlink/\n|-- annotations\n|   |-- eef_acc_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\
+  |       `-- ... (137 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: 0:148
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  action:
+    dtype: float32
+    shape:
+    - 36
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_hand_joint_1_rad
+    - left_hand_joint_2_rad
+    - left_hand_joint_3_rad
+    - left_hand_joint_4_rad
+    - left_hand_joint_5_rad
+    - left_hand_joint_6_rad
+    - left_hand_joint_7_rad
+    - left_hand_joint_8_rad
+    - left_hand_joint_9_rad
+    - left_hand_joint_10_rad
+    - left_hand_joint_11_rad
+    - left_hand_joint_12_rad
+    - right_hand_joint_1_rad
+    - right_hand_joint_2_rad
+    - right_hand_joint_3_rad
+    - right_hand_joint_4_rad
+    - right_hand_joint_5_rad
+    - right_hand_joint_6_rad
+    - right_hand_joint_7_rad
+    - right_hand_joint_8_rad
+    - right_hand_joint_9_rad
+    - right_hand_joint_10_rad
+    - right_hand_joint_11_rad
+    - right_hand_joint_12_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4

dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml

@@ -0,0 +1,827 @@
+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_classify_object_green_tablecloth
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: commercial_convenience
+  level2: supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: brown_basket
+  level1: baskets
+  level2: brown_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: yellow_basket
+  level1: baskets
+  level2: yellow_basket
+  level3: null
+  level4: null
+  level5: null
+- object_name: any_fruits
+  level1: fruits
+  level2: any_fruits
+  level3: null
+  level4: null
+  level5: null
+- object_name: any_vegetables
+  level1: vegetables
+  level2: any_vegetables
+  level3: null
+  level4: null
+  level5: null
+- object_name: any_snacks
+  level1: snacks
+  level2: any_snacks
+  level3: null
+  level4: null
+  level5: null
+- object_name: any_bread
+  level1: bread
+  level2: any_bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_table_cloths
+  level1: table_cloths
+  level2: green_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:
+- on the green table,place the food in the right basket with the right gripper, and
+  place the non food items in the left basket with the left gripper.
+sub_tasks:
+- subtask: Grasp the round bread and put it in the right basket
+  subtask_index: 0
+- subtask: Grasp the can and put it in the right basket
+  subtask_index: 1
+- subtask: Pick up the compass and put it in the left basket
+  subtask_index: 2
+- subtask: Grasp the soft cleanser and put it in the left basket
+  subtask_index: 3
+- subtask: Pick up the orange and put it in the right basket
+  subtask_index: 4
+- subtask: Pick up the round chewing gum and put it in the right basket
+  subtask_index: 5
+- subtask: Grasp the playing cards and put it in the left basket
+  subtask_index: 6
+- subtask: Grasp the purple garbage bag and put it in the left basket
+  subtask_index: 7
+- subtask: Place the back scratcher in the center of the table
+  subtask_index: 8
+- subtask: Place the eggplant in the center of the table
+  subtask_index: 9
+- subtask: Pick up the square chewing gum and put it in the right basket
+  subtask_index: 10
+- subtask: Pick up the washing liquid and put it in the left basket
+  subtask_index: 11
+- subtask: Grasp the red pot and put it in the left basket
+  subtask_index: 12
+- subtask: Grasp the grape and put it in the right basket
+  subtask_index: 13
+- subtask: Pick up the tape and put it in the left basket
+  subtask_index: 14
+- subtask: Pick up the shampoo and put it in the left basket
+  subtask_index: 15
+- subtask: Pick up the playing cards and put it in the left basket
+  subtask_index: 16
+- subtask: Place the orange in the center of the table
+  subtask_index: 17
+- subtask: Grasp the eggplant and put it in the right basket
+  subtask_index: 18
+- subtask: Pick up the banana and put it in the right basket
+  subtask_index: 19
+- subtask: Grasp the washing liquid and put it in the left basket
+  subtask_index: 20
+- subtask: Grasp the shampoo and put it in the left basket
+  subtask_index: 21
+- subtask: Place the pink bowl in the center of the table
+  subtask_index: 22
+- subtask: Place the compass in the center of the table
+  subtask_index: 23
+- subtask: Place the peach in the center of the table
+  subtask_index: 24
+- subtask: Place the banana in the center of the table
+  subtask_index: 25
+- subtask: Place the tape in the center of the table
+  subtask_index: 26
+- subtask: Pick up the round bread and put it in the left basket
+  subtask_index: 27
+- subtask: Pick up the tea cup and put it in the left basket
+  subtask_index: 28
+- subtask: Pick up the round bread and put it in the right basket
+  subtask_index: 29
+- subtask: Grasp the banana and put it in the right basket
+  subtask_index: 30
+- subtask: Grasp the pear and put it in the right basket
+  subtask_index: 31
+- subtask: Place the lemon and put it in the center of the table
+  subtask_index: 32
+- subtask: Grasp the compass and put it in the right basket
+  subtask_index: 33
+- subtask: Pick up the can and put it in the right basket
+  subtask_index: 34
+- subtask: Place the red pot in the center of the table
+  subtask_index: 35
+- subtask: Pick up the yellow marker and put it in the left basket
+  subtask_index: 36
+- subtask: Grasp the yellow cake and put it in the right basket
+  subtask_index: 37
+- subtask: Grasp the long bread and put it in the right basket
+  subtask_index: 38
+- subtask: Grasp the canned cola and put it in the right basket
+  subtask_index: 39
+- subtask: Grasp the glasses case and put it in the left basket
+  subtask_index: 40
+- subtask: Pick up the lime and put it in the right basket
+  subtask_index: 41
+- subtask: Pick up the pear and put it in the right basket
+  subtask_index: 42
+- subtask: Grasp the green chewing gum and put it in the right basket
+  subtask_index: 43
+- subtask: Pick up the croissant and put it in the right basket
+  subtask_index: 44
+- subtask: Pick up the chinese cabbage and put it in the right basket
+  subtask_index: 45
+- subtask: Place the fruit fudge in the center of the table
+  subtask_index: 46
+- subtask: Grasp the white eraser and put it in the left basket
+  subtask_index: 47
+- subtask: Place the yellow marker in the center of the table
+  subtask_index: 48
+- subtask: Place the round chewing gum in the center of the table
+  subtask_index: 49
+- subtask: Pick up the canned cola and put it in the right basket
+  subtask_index: 50
+- subtask: Pick up the red pot and put it in the left basket
+  subtask_index: 51
+- subtask: Place the green lemon in the center of the table
+  subtask_index: 52
+- subtask: Grasp the pink marker and put it in the left basket
+  subtask_index: 53
+- subtask: Place the washing liquid in the center of the table
+  subtask_index: 54
+- subtask: Abnormal
+  subtask_index: 55
+- subtask: Grasp the peach and put it in the right basket
+  subtask_index: 56
+- subtask: Grasp the soap and put it in the left basket
+  subtask_index: 57
+- subtask: Place the Red Bull in the center of the table
+  subtask_index: 58
+- subtask: Place the mango in the center of the table
+  subtask_index: 59
+- subtask: Grasp the fruit fudge and put it in the right basket
+  subtask_index: 60
+- subtask: Grasp the bath ball and put it in the left basket
+  subtask_index: 61
+- subtask: Grasp the red bull and put it in the right basket
+  subtask_index: 62
+- subtask: Pick up the lemon and put it in the right basket
+  subtask_index: 63
+- subtask: Grasp the chinese cabbage and put it in the right basket
+  subtask_index: 64
+- subtask: Grasp the pink pot and put it in the left basket
+  subtask_index: 65
+- subtask: Grasp the croissant and put it in the right basket
+  subtask_index: 66
+- subtask: Grasp the soda water and put it in the right basket
+  subtask_index: 67
+- subtask: Pick up the egg yolk pastry and put it in the right basket
+  subtask_index: 68
+- subtask: Grasp the spoon and put it in the left basket
+  subtask_index: 69
+- subtask: Grasp the blue cup and put it in the left basket
+  subtask_index: 70
+- subtask: Place the blue towel in the center of the table
+  subtask_index: 71
+- subtask: Place the yellow cake in the center of the table
+  subtask_index: 72
+- subtask: Place the grey cup in the center of the table
+  subtask_index: 73
+- subtask: Grasp the tape and put it in the left basket
+  subtask_index: 74
+- subtask: Place the square chewing gum in the center of the table
+  subtask_index: 75
+- subtask: Pick up the milk and put it in the right basket
+  subtask_index: 76
+- subtask: Grasp the back scratcher and put it in the right basket
+  subtask_index: 77
+- subtask: Grasp the yogurt and put it in the right basket
+  subtask_index: 78
+- subtask: Pick up the yellow cake and put it in the right basket
+  subtask_index: 79
+- subtask: Pick up the blue bowl and put it in the left basket
+  subtask_index: 80
+- subtask: Grasp the lemon and put it in the right basket
+  subtask_index: 81
+- subtask: Grasp the back scratcher and put it in the left basket
+  subtask_index: 82
+- subtask: Grasp the orange and put it in the right basket
+  subtask_index: 83
+- subtask: Pick up the soda water and put it in the right basket
+  subtask_index: 84
+- subtask: Grasp the red pot and put it in the right basket
+  subtask_index: 85
+- subtask: Grasp the milk and put it in the right basket
+  subtask_index: 86
+- subtask: Pick up the blue cup and put it in the left basket
+  subtask_index: 87
+- subtask: Pick up the mango and put it in the right basket
+  subtask_index: 88
+- subtask: Place the pink marker in the center of the table
+  subtask_index: 89
+- subtask: Grasp the grey cup and put it in the left basket
+  subtask_index: 90
+- subtask: Pick up the long bread and put it in the right basket
+  subtask_index: 91
+- subtask: Pick up the soap and put it in the left basket
+  subtask_index: 92
+- subtask: Grasp the peach and put it in the left basket
+  subtask_index: 93
+- subtask: Pick up the pink pot and put it in the left basket
+  subtask_index: 94
+- subtask: Grasp the sausage and put it in the right basket
+  subtask_index: 95
+- subtask: Pick up the yogurt and put it in the right basket
+  subtask_index: 96
+- subtask: Place the bath ball in the center of the table
+  subtask_index: 97
+- subtask: Grasp the square chewing gum and put it in the right basket
+  subtask_index: 98
+- subtask: Grasp the ad milk and put it in the right basket
+  subtask_index: 99
+- subtask: Place the pink pot in the center of the table
+  subtask_index: 100
+- subtask: Grasp the compass and put it in the left basket
+  subtask_index: 101
+- subtask: Place the glasses case in the center of the table
+  subtask_index: 102
+- subtask: Place the gray towel in the center of the table
+  subtask_index: 103
+- subtask: Pick up the back scratcher and put it in the left basket
+  subtask_index: 104
+- subtask: Place the purple garbage bag in the center of the table
+  subtask_index: 105
+- subtask: Place the blue cup in the center of the table
+  subtask_index: 106
+- subtask: Pick up the blue towel and put it in the left basket
+  subtask_index: 107
+- subtask: Place the pear in the center of the table
+  subtask_index: 108
+- subtask: Place the soft cleanser in the center of the table
+  subtask_index: 109
+- subtask: Grasp the egg yolk pastry and put it in the right basket
+  subtask_index: 110
+- subtask: Pick up the spoon and put it in the left basket
+  subtask_index: 111
+- subtask: Place the sausage in the center of the table
+  subtask_index: 112
+- subtask: Place the green chewing gum in the center of the table
+  subtask_index: 113
+- subtask: Pick up the peach and put it in the right basket
+  subtask_index: 114
+- subtask: Place the can in the center of the table
+  subtask_index: 115
+- subtask: Grasp the mango and put it in the right basket
+  subtask_index: 116
+- subtask: Place the canned cola in the center of the table
+  subtask_index: 117
+- subtask: Pick up the gray towel and put it in the left basket
+  subtask_index: 118
+- subtask: Place the ad milk in the center of the table
+  subtask_index: 119
+- subtask: Pick up the sausage and put it in the right basket
+  subtask_index: 120
+- subtask: Grasp the hard cleanser and put it in the left basket
+  subtask_index: 121
+- subtask: Pick up the pink marker and put it in the left basket
+  subtask_index: 122
+- subtask: Grasp the detergent and put it in the left basket
+  subtask_index: 123
+- subtask: Pick up the pink bowl and put it in the left basket
+  subtask_index: 124
+- subtask: Grasp the Red Bull and put it in the right basket
+  subtask_index: 125
+- subtask: Pick up the ad milk and put it in the right basket
+  subtask_index: 126
+- subtask: Place the long bread in the center of the table
+  subtask_index: 127
+- subtask: Pick up the soft cleanser and put it in the left basket
+  subtask_index: 128
+- subtask: Place the croissant in the center of the table
+  subtask_index: 129
+- subtask: Grasp the lime and put it in the right basket
+  subtask_index: 130
+- subtask: Place the round bread in the center of the table
+  subtask_index: 131
+- subtask: Pick up the green chewing gum and put it in the right basket
+  subtask_index: 132
+- subtask: Grasp the pink bowl and put it in the left basket
+  subtask_index: 133
+- subtask: Place the playing cards in the center of the table
+  subtask_index: 134
+- subtask: Pick up the glasses case and put it in the left basket
+  subtask_index: 135
+- subtask: Pick up the fruit fudge and put it in the right basket
+  subtask_index: 136
+- subtask: Pick up the eggplant and put it in the right basket
+  subtask_index: 137
+- subtask: Place the white eraser in the center of the table
+  subtask_index: 138
+- subtask: Place the yogurt in the center of the table
+  subtask_index: 139
+- subtask: Pick up the detergent and put it in the left basket
+  subtask_index: 140
+- subtask: Grasp the blue towel and put it in the left basket
+  subtask_index: 141
+- subtask: Pick up the red bull and put it in the right basket
+  subtask_index: 142
+- subtask: Place the lime in the center of the table
+  subtask_index: 143
+- subtask: Grasp the mint candy and put it in the right basket
+  subtask_index: 144
+- subtask: Place the soap in the center of the table
+  subtask_index: 145
+- subtask: Grasp the red marker and put it in the left basket
+  subtask_index: 146
+- subtask: Pick up the purple garbage bag and put it in the left basket
+  subtask_index: 147
+- subtask: Place the detergent in the center of the table
+  subtask_index: 148
+- subtask: Pick up the bath ball and put it in the left basket
+  subtask_index: 149
+- subtask: Grasp the gray towel and put it in the left basket
+  subtask_index: 150
+- subtask: Grasp the yellow marker and put it in the left basket
+  subtask_index: 151
+- subtask: Grasp the pink towel and put it in the left basket
+  subtask_index: 152
+- subtask: End
+  subtask_index: 153
+- subtask: Place the shampoo in the center of the table
+  subtask_index: 154
+- subtask: Grasp the green lemon and put it in the right basket
+  subtask_index: 155
+- subtask: Grasp the round chewing gum and put it in the right basket
+  subtask_index: 156
+- subtask: 'null'
+  subtask_index: 157
+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:
+- 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: 224
+  total_frames: 251221
+  fps: 30
+  total_tasks: 158
+  total_videos: 896
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 25.62 GB
+frame_num: 251221
+dataset_size: 25.62 GB
+data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_classify_object_green_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (212 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:223
+features:
+  observation.images.cam_head_left_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_head_right_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml

@@ -0,0 +1,528 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Galaxea_R1_Lite_mix_blue_yellow_large_test_tube
+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: blue_pigment
+  level1: materials
+  level2: blue_pigment
+  level3: null
+  level4: null
+  level5: null
+- object_name: yellow_pigment
+  level1: materials
+  level2: yellow_pigment
+  level3: null
+  level4: null
+  level5: null
+- object_name: red_pigment
+  level1: materials
+  level2: red_pigment
+  level3: null
+  level4: null
+  level5: null
+- object_name: test_tube_rack
+  level1: holding_utensils
+  level2: test_tube_rack
+  level3: null
+  level4: null
+  level5: null
+- object_name: test_tubes
+  level1: laboratory_supplies
+  level2: test_tubes
+  level3: null
+  level4: null
+  level5: null
+- object_name: beaker
+  level1: holding_utensils
+  level2: beaker
+  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 test tube with yellow pigment and the test tube with blue pigment by
+  grippers and pour them into the beaker.
+sub_tasks:
+- subtask: Grasp the yellow reagent with the right gripper
+  subtask_index: 0
+- subtask: Pour the yellow reagent into the graduated cylinder and place the test
+    tube into the paper cup
+  subtask_index: 1
+- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper
+  subtask_index: 2
+- subtask: Pour the blue reagent into the graduated cylinder and place the test tube
+    into the paper cup
+  subtask_index: 3
+- subtask: Pour the blue reagent into the graduated cylinder with the left gripper
+  subtask_index: 4
+- subtask: End
+  subtask_index: 5
+- subtask: Place the test tube into the paper cup with the right gripper
+  subtask_index: 6
+- subtask: Place the test tube into the paper cup with the left gripper
+  subtask_index: 7
+- subtask: Grasp the blue reagent with the left gripper
+  subtask_index: 8
+- subtask: 'null'
+  subtask_index: 9
+atomic_actions:
+- grasp
+- pick
+- place
+- pour
+robot_name:
+- Galaxea_R1_Lite
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_left_rgb
+- cam_head_right_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 51
+  total_frames: 29341
+  fps: 30
+  total_tasks: 10
+  total_videos: 204
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 1.59 GB
+frame_num: 29341
+dataset_size: 1.59 GB
+data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_large_test_tube_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (39 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:50
+features:
+  observation.images.cam_head_left_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_head_right_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml

@@ -0,0 +1,575 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Galaxea_R1_Lite_pour_water_black_tablecloth
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: black_table_cloth
+  level1: table_cloths
+  level2: black_table_cloth
+  level3: null
+  level4: null
+  level5: null
+- object_name: any_cup
+  level1: cups
+  level2: any_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: water
+  level1: beverages
+  level2: water
+  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 gripper to pour the water into the other two cups on black table.
+sub_tasks:
+- subtask: Pick up the gray plastic cup with left gripper
+  subtask_index: 0
+- subtask: Pour water from blue cup to white cup with the left gripper
+  subtask_index: 1
+- subtask: Pour water from white cup to blue cup with the right gripper
+  subtask_index: 2
+- subtask: Grasp the green cup with the left gripper
+  subtask_index: 3
+- subtask: Place the blue plastic cup on the table with left gripper
+  subtask_index: 4
+- subtask: Pour water from blue cup to green cup with the right gripper
+  subtask_index: 5
+- subtask: Pour water from white cup to green cup with the right gripper
+  subtask_index: 6
+- subtask: Left gripper
+  subtask_index: 7
+- subtask: Pick up the green plastic cup with right gripper
+  subtask_index: 8
+- subtask: Pour water from blue cup to green cup with the left gripper
+  subtask_index: 9
+- subtask: Grasp the blue cup with the left gripper
+  subtask_index: 10
+- subtask: Pour water into the green plastic cup with right gripper
+  subtask_index: 11
+- subtask: Pour water into the blue plastic cup with left gripper
+  subtask_index: 12
+- subtask: Place the white cup with the right gripper
+  subtask_index: 13
+- subtask: Grasp the white cup with the right gripper
+  subtask_index: 14
+- subtask: Pick up the blue plastic cup with right gripper
+  subtask_index: 15
+- subtask: Place the white cup with the left gripper
+  subtask_index: 16
+- subtask: Place the blue cup with the right gripper
+  subtask_index: 17
+- subtask: Place the gray plastic cup on the table with left gripper
+  subtask_index: 18
+- subtask: Pick up the green plastic cup with left gripper
+  subtask_index: 19
+- subtask: Pour water into the blue plastic cup with right gripper
+  subtask_index: 20
+- subtask: Grasp the green cup with the right gripper
+  subtask_index: 21
+- subtask: Pick up the blue plastic cup with left gripper
+  subtask_index: 22
+- subtask: Grasp the white cup with the left gripper
+  subtask_index: 23
+- subtask: Pour water from white cup to green cup with the left gripper
+  subtask_index: 24
+- subtask: Pour water from blue cup to white cup with the right gripper
+  subtask_index: 25
+- subtask: Place the blue plastic cup on the table with right gripper
+  subtask_index: 26
+- subtask: Pour water from white cup to blue cup with the left gripper
+  subtask_index: 27
+- subtask: Pour water into the green plastic cup with left gripper
+  subtask_index: 28
+- subtask: Pour water from green cup to blue cup with the right gripper
+  subtask_index: 29
+- subtask: Place the green plastic cup on the table with left gripper
+  subtask_index: 30
+- subtask: Place the green plastic cup on the table with right gripper
+  subtask_index: 31
+- subtask: Grasp the blue cup with the right gripper
+  subtask_index: 32
+- subtask: Place the green cup with the right gripper
+  subtask_index: 33
+- subtask: Pour water from green cup to blue cup with the left gripper
+  subtask_index: 34
+- subtask: Place the green cup with the left gripper
+  subtask_index: 35
+- subtask: End
+  subtask_index: 36
+- subtask: Place the blue cup with the left gripper
+  subtask_index: 37
+- subtask: Pour water from green cup to white cup with the left gripper
+  subtask_index: 38
+- subtask: Right gripper
+  subtask_index: 39
+- subtask: Pour water into the gray plastic cup with right gripper
+  subtask_index: 40
+- subtask: Pour water into the gray plastic cup with left gripper
+  subtask_index: 41
+- subtask: Pour water from green cup to white cup with the right gripper
+  subtask_index: 42
+- subtask: 'null'
+  subtask_index: 43
+atomic_actions:
+- grasp
+- pick
+- place
+- pour
+robot_name:
+- Galaxea_R1_Lite
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_left_rgb
+- cam_head_right_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 98
+  total_frames: 42644
+  fps: 30
+  total_tasks: 44
+  total_videos: 392
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 1.43 GB
+frame_num: 42644
+dataset_size: 1.43 GB
+data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_black_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (86 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:97
+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:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 360
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 360
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml

@@ -0,0 +1,810 @@
+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_storage_object_pink_bowl
+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: pink_bowl
+  level1: plastic_bowl
+  level2: pink_bowl
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: fruits
+  level2: banana
+  level3: null
+  level4: null
+  level5: null
+- object_name: bathing_in_flowers
+  level1: daily_chemical_products
+  level2: bathing_in_flowers
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_cup
+  level1: cups
+  level2: blue_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_pot
+  level1: kitchen_supplies
+  level2: blue_pot
+  level3: null
+  level4: null
+  level5: null
+- object_name: toast_slices
+  level1: bread
+  level2: toast_slices
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_towel
+  level1: towels
+  level2: brown_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: can
+  level1: snacks
+  level2: can
+  level3: null
+  level4: null
+  level5: null
+- object_name: coke
+  level1: beverages
+  level2: coke
+  level3: null
+  level4: null
+  level5: null
+- object_name: potato_chips
+  level1: snacks
+  level2: potato_chips
+  level3: null
+  level4: null
+  level5: null
+- object_name: chocolate
+  level1: snacks
+  level2: chocolate
+  level3: null
+  level4: null
+  level5: null
+- object_name: compass
+  level1: stationery
+  level2: compass
+  level3: null
+  level4: null
+  level5: null
+- object_name: block_pillar
+  level1: toys
+  level2: block_pillar
+  level3: null
+  level4: null
+  level5: null
+- object_name: egg_beater
+  level1: kitchen_supplies
+  level2: egg_beater
+  level3: null
+  level4: null
+  level5: null
+- object_name: eraser
+  level1: stationery
+  level2: eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: snacks
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_lemon
+  level1: fruits
+  level2: green_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: peach
+  level1: fruits
+  level2: peach
+  level3: null
+  level4: null
+  level5: null
+- object_name: power_strip
+  level1: appliances
+  level2: power_strip
+  level3: null
+  level4: null
+  level5: null
+- object_name: round_bread
+  level1: bread
+  level2: round_bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_chemical_products
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+- object_name: tape
+  level1: stationery
+  level2: tape
+  level3: null
+  level4: null
+  level5: null
+- object_name: cake
+  level1: bread
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: duck
+  level1: doll
+  level2: duck
+  level3: null
+  level4: null
+  level5: null
+- object_name: ambrosial_yogurt
+  level1: beverages
+  level2: ambrosial_yogurt
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use a gripper to pick the target object and place on the pink bowl.
+sub_tasks:
+- subtask: Place the bread slice on the pink bowl with the left gripper
+  subtask_index: 0
+- subtask: Place the round wooden block on the pink bowl with the left gripper
+  subtask_index: 1
+- subtask: Grasp the blue pot with the left gripper
+  subtask_index: 2
+- subtask: Grasp the plugboard with the left gripper
+  subtask_index: 3
+- subtask: Place the chocolate on the pink bowl with the right gripper
+  subtask_index: 4
+- subtask: Grasp the potato chips with the right gripper
+  subtask_index: 5
+- subtask: Place the bread slice on the pink bowl with the right gripper
+  subtask_index: 6
+- subtask: Grasp the banana with the left gripper
+  subtask_index: 7
+- subtask: Place the round bread on the pink bowl with the right gripper
+  subtask_index: 8
+- subtask: Grasp the compasses with the right gripper
+  subtask_index: 9
+- subtask: Grasp the duck toy with the left gripper
+  subtask_index: 10
+- subtask: Place the banana on the pink bowl with the left gripper
+  subtask_index: 11
+- subtask: Place the hard facial cleanser on the pink bowl with the right gripper
+  subtask_index: 12
+- subtask: Grasp the blue cup with the left gripper
+  subtask_index: 13
+- subtask: Place the brown towel on the pink bowl with the right gripper
+  subtask_index: 14
+- subtask: Place the duck toy on the pink bowl with the right gripper
+  subtask_index: 15
+- subtask: Place the coke on the pink bowl with the right gripper
+  subtask_index: 16
+- subtask: Grasp the square chewing gum with the left gripper
+  subtask_index: 17
+- subtask: Grasp the chocolate cake with the right gripper
+  subtask_index: 18
+- subtask: Place the banana on the pink bowl with the right gripper
+  subtask_index: 19
+- subtask: Grasp the shower sphere with the left gripper
+  subtask_index: 20
+- subtask: Grasp the plugboard with the right gripper
+  subtask_index: 21
+- subtask: Grasp the yogurt with the right gripper
+  subtask_index: 22
+- subtask: Grasp the tin with the left gripper
+  subtask_index: 23
+- subtask: Grasp the brown towel with the left gripper
+  subtask_index: 24
+- subtask: Place the peach on the pink bowl with the left gripper
+  subtask_index: 25
+- subtask: Grasp the chocolate with the right gripper
+  subtask_index: 26
+- subtask: Place the tape on the pink bowl with the right gripper
+  subtask_index: 27
+- subtask: Grasp the peach with the right gripper
+  subtask_index: 28
+- subtask: Grasp the brown towel with the right gripper
+  subtask_index: 29
+- subtask: Grasp the back scratcher with the left gripper
+  subtask_index: 30
+- subtask: Place the round wooden block on the pink bowl with the right gripper
+  subtask_index: 31
+- subtask: Place the tape on the pink bowl with the left gripper
+  subtask_index: 32
+- subtask: Place the duck toy on the pink bowl with the left gripper
+  subtask_index: 33
+- subtask: Place the shower sphere on the pink bowl with the left gripper
+  subtask_index: 34
+- subtask: Place the blue cup on the pink bowl with the left gripper
+  subtask_index: 35
+- subtask: Grasp the hard facial cleanser with the right gripper
+  subtask_index: 36
+- subtask: Place the blue pot on the pink bowl with the left gripper
+  subtask_index: 37
+- subtask: Place the coke on the pink bowl with the left gripper
+  subtask_index: 38
+- subtask: Place the blue cup on the pink bowl with the right gripper
+  subtask_index: 39
+- subtask: Grasp the peach with the left gripper
+  subtask_index: 40
+- subtask: Place the potato chips on the pink bowl with the right gripper
+  subtask_index: 41
+- subtask: Place the square chewing gum on the pink bowl with the left gripper
+  subtask_index: 42
+- subtask: Place the square wooden block on the pink bowl with the right gripper
+  subtask_index: 43
+- subtask: Place the blackboard erasure on the pink bowl with the left gripper
+  subtask_index: 44
+- subtask: Grasp the bread slice with the right gripper
+  subtask_index: 45
+- subtask: Grasp the potato chips with the left gripper
+  subtask_index: 46
+- subtask: Grasp the duck toy with the right gripper
+  subtask_index: 47
+- subtask: End
+  subtask_index: 48
+- subtask: Place the compasses on the pink bowl with the left gripper
+  subtask_index: 49
+- subtask: Place the blue pot on the pink bowl with the right gripper
+  subtask_index: 50
+- subtask: Grasp the blackboard erasure with the left gripper
+  subtask_index: 51
+- subtask: Grasp the coke with the left gripper
+  subtask_index: 52
+- subtask: Place the chocolate cake on the pink bowl with the right gripper
+  subtask_index: 53
+- subtask: Grasp the round wooden block with the left gripper
+  subtask_index: 54
+- subtask: Place the blackboard erasure on the pink bowl with the right gripper
+  subtask_index: 55
+- subtask: Grasp the compasses with the left gripper
+  subtask_index: 56
+- subtask: Place the peach on the pink bowl with the right gripper
+  subtask_index: 57
+- subtask: Place the soft facial cleanser on the pink bowl with the right gripper
+  subtask_index: 58
+- subtask: Grasp the blue pot with the right gripper
+  subtask_index: 59
+- subtask: Grasp the round bread with the right gripper
+  subtask_index: 60
+- subtask: Place the plugboard on the pink bowl with the left gripper
+  subtask_index: 61
+- subtask: Grasp the tin with the right gripper
+  subtask_index: 62
+- subtask: Place the square chewing gum on the pink bowl with the right gripper
+  subtask_index: 63
+- subtask: Place the compasses on the pink bowl with the right gripper
+  subtask_index: 64
+- subtask: Grasp the tape with the right gripper
+  subtask_index: 65
+- subtask: Place the shower sphere on the pink bowl with the right gripper
+  subtask_index: 66
+- subtask: Grasp the coke with the right gripper
+  subtask_index: 67
+- subtask: Grasp the tape with the left gripper
+  subtask_index: 68
+- subtask: Place the tin on the pink bowl with the right gripper
+  subtask_index: 69
+- subtask: Grasp the square chewing gum with the right gripper
+  subtask_index: 70
+- subtask: Grasp the shower sphere with the right gripper
+  subtask_index: 71
+- subtask: Grasp the bread slice with the left gripper
+  subtask_index: 72
+- subtask: Grasp the blackboard erasure with the right gripper
+  subtask_index: 73
+- subtask: Place the brown towel on the pink bowl with the left gripper
+  subtask_index: 74
+- subtask: Place the square wooden block on the pink bowl with the left gripper
+  subtask_index: 75
+- subtask: Grasp the square wooden block with the left gripper
+  subtask_index: 76
+- subtask: Grasp the blue cup with the right gripper
+  subtask_index: 77
+- subtask: Place the back scratcher on the pink bowl with the left gripper
+  subtask_index: 78
+- subtask: Grasp the soft facial cleanser with the right gripper
+  subtask_index: 79
+- subtask: Place the green lemon on the pink bowl with the left gripper
+  subtask_index: 80
+- subtask: Grasp the square wooden block with the right gripper
+  subtask_index: 81
+- subtask: Grasp the green lemon with the left gripper
+  subtask_index: 82
+- subtask: Place the tin on the pink bowl with the left gripper
+  subtask_index: 83
+- subtask: Place the yogurt on the pink bowl with the right gripper
+  subtask_index: 84
+- subtask: Place the potato chips on the pink bowl with the left gripper
+  subtask_index: 85
+- subtask: Grasp the round wooden block with the right gripper
+  subtask_index: 86
+- subtask: Grasp the banana with the right gripper
+  subtask_index: 87
+- subtask: Place the plugboard on the pink bowl with the right gripper
+  subtask_index: 88
+- subtask: 'null'
+  subtask_index: 89
+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=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, 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: 102
+  total_frames: 20095
+  fps: 30
+  total_tasks: 90
+  total_videos: 408
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 752.15 MB
+frame_num: 20095
+dataset_size: 752.15 MB
+data_structure: 'Galaxea_R1_Lite_storage_object_pink_bowl_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (90 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:101
+features:
+  observation.images.cam_head_left_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_head_right_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 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_right_wrist_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.state:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml

@@ -0,0 +1,814 @@
+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_storage_object_white_box
+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: white_box
+  level1: storage_box
+  level2: white_box
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: fruits
+  level2: banana
+  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: blue_cup
+  level1: cups
+  level2: blue_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_pot
+  level1: kitchen_supplies
+  level2: blue_pot
+  level3: null
+  level4: null
+  level5: null
+- object_name: toast_slices
+  level1: bread
+  level2: toast_slices
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_towel
+  level1: towels
+  level2: brown_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: can
+  level1: snacks
+  level2: can
+  level3: null
+  level4: null
+  level5: null
+- object_name: coke
+  level1: beverages
+  level2: coke
+  level3: null
+  level4: null
+  level5: null
+- object_name: potato_chips
+  level1: snacks
+  level2: potato_chips
+  level3: null
+  level4: null
+  level5: null
+- object_name: chocolate
+  level1: snacks
+  level2: chocolate
+  level3: null
+  level4: null
+  level5: null
+- object_name: compass
+  level1: stationery
+  level2: compass
+  level3: null
+  level4: null
+  level5: null
+- object_name: block_pillar
+  level1: toys
+  level2: building_blocks
+  level3: null
+  level4: null
+  level5: null
+- object_name: egg_beater
+  level1: kitchen_supplies
+  level2: egg_beater
+  level3: null
+  level4: null
+  level5: null
+- object_name: eraser
+  level1: stationery
+  level2: eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: snacks
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_lemon
+  level1: fruits
+  level2: green_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: peach
+  level1: fruits
+  level2: peach
+  level3: null
+  level4: null
+  level5: null
+- object_name: power_strip
+  level1: electrical_control_equipment
+  level2: power_strip
+  level3: null
+  level4: null
+  level5: null
+- object_name: round_bread
+  level1: bread
+  level2: round_bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_necessities
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: building_blocks
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+- object_name: tape
+  level1: stationery
+  level2: tape
+  level3: null
+  level4: null
+  level5: null
+- object_name: cake
+  level1: bread
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: duck
+  level1: doll
+  level2: duck
+  level3: null
+  level4: null
+  level5: null
+- object_name: ambrosial_yogurt
+  level1: beverages
+  level2: ambrosial_yogurt
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use a gripper to pick the target object and place on the white box.
+sub_tasks:
+- subtask: Place the tin on the white box with the left gripper
+  subtask_index: 0
+- subtask: Grasp the blue pot with the left gripper
+  subtask_index: 1
+- subtask: Place the square wooden block on the white box with the right gripper
+  subtask_index: 2
+- subtask: Grasp the plugboard with the left gripper
+  subtask_index: 3
+- subtask: Place the brown towel on the white box with the left gripper
+  subtask_index: 4
+- subtask: Place the peach on the white box with the left gripper
+  subtask_index: 5
+- subtask: Grasp the potato chips with the right gripper
+  subtask_index: 6
+- subtask: Place the blackboard erasure on the white box with the right gripper
+  subtask_index: 7
+- subtask: Grasp the banana with the left gripper
+  subtask_index: 8
+- subtask: Place the round bread on the white box with the right gripper
+  subtask_index: 9
+- subtask: Grasp the compasses with the right gripper
+  subtask_index: 10
+- subtask: Grasp the duck toy with the left gripper
+  subtask_index: 11
+- subtask: Place the bread slice on the white box with the right gripper
+  subtask_index: 12
+- subtask: Place the blackboard erasure on the white box with the left gripper
+  subtask_index: 13
+- subtask: Place the bread slice on the white box with the left gripper
+  subtask_index: 14
+- subtask: Place the coke on the white box with the right gripper
+  subtask_index: 15
+- subtask: Place the blue cup on the white box with the left gripper
+  subtask_index: 16
+- subtask: Grasp the blue cup with the left gripper
+  subtask_index: 17
+- subtask: Place the coke on the white box with the left gripper
+  subtask_index: 18
+- subtask: Place the square wooden block on the white box with the left gripper
+  subtask_index: 19
+- subtask: Place the blue cup on the white box with the right gripper
+  subtask_index: 20
+- subtask: Place the duck toy on the white box with the left gripper
+  subtask_index: 21
+- subtask: Grasp the back scratcher with the right gripper
+  subtask_index: 22
+- subtask: Place the blue pot on the white box with the right gripper
+  subtask_index: 23
+- subtask: Grasp the square chewing gum with the left gripper
+  subtask_index: 24
+- subtask: Grasp the chocolate cake with the right gripper
+  subtask_index: 25
+- subtask: Place the round wooden block on the white box with the right gripper
+  subtask_index: 26
+- subtask: Place the square chewing gum on the white box with the right gripper
+  subtask_index: 27
+- subtask: Grasp the shower sphere with the left gripper
+  subtask_index: 28
+- subtask: Grasp the plugboard with the right gripper
+  subtask_index: 29
+- subtask: Grasp the yogurt with the right gripper
+  subtask_index: 30
+- subtask: Grasp the tin with the left gripper
+  subtask_index: 31
+- subtask: Grasp the brown towel with the left gripper
+  subtask_index: 32
+- subtask: Place the back scratcher into the basket with the right gripper
+  subtask_index: 33
+- subtask: Grasp the hard facial cleanser with the left gripper
+  subtask_index: 34
+- subtask: Grasp the chocolate with the right gripper
+  subtask_index: 35
+- subtask: Place the banana on the white box with the right gripper
+  subtask_index: 36
+- subtask: Grasp the brown towel with the right gripper
+  subtask_index: 37
+- subtask: Place the shower sphere on the white box with the right gripper
+  subtask_index: 38
+- subtask: Place the green lemon into the basket with the right gripper
+  subtask_index: 39
+- subtask: Place the compasses on the white box with the right gripper
+  subtask_index: 40
+- subtask: Place the banana on the white box with the left gripper
+  subtask_index: 41
+- subtask: Grasp the peach with the left gripper
+  subtask_index: 42
+- subtask: Place the round wooden block on the white box with the left gripper
+  subtask_index: 43
+- subtask: Place the tin on the white box with the right gripper
+  subtask_index: 44
+- subtask: Place the potato chips on the white box with the right gripper
+  subtask_index: 45
+- subtask: Place the tape on the white box with the left gripper
+  subtask_index: 46
+- subtask: Grasp the green lemon with the right gripper
+  subtask_index: 47
+- subtask: Place the blue pot on the white box with the left gripper
+  subtask_index: 48
+- subtask: Grasp the bread slice with the right gripper
+  subtask_index: 49
+- subtask: Place the chocolate cake on the white box with the right gripper
+  subtask_index: 50
+- subtask: Place the compasses on the white box with the left gripper
+  subtask_index: 51
+- subtask: Grasp the potato chips with the left gripper
+  subtask_index: 52
+- subtask: Place the soft facial cleanser on the white box with the right gripper
+  subtask_index: 53
+- subtask: Grasp the duck toy with the right gripper
+  subtask_index: 54
+- subtask: End
+  subtask_index: 55
+- subtask: Place the hard facial cleanser on the white box with the left gripper
+  subtask_index: 56
+- subtask: Grasp the blackboard erasure with the left gripper
+  subtask_index: 57
+- subtask: Grasp the coke with the left gripper
+  subtask_index: 58
+- subtask: Grasp the round wooden block with the left gripper
+  subtask_index: 59
+- subtask: Place the square chewing gum on the white box with the left gripper
+  subtask_index: 60
+- subtask: Place the tape on the white box with the right gripper
+  subtask_index: 61
+- subtask: Place the shower sphere on the white box with the left gripper
+  subtask_index: 62
+- subtask: Grasp the compasses with the left gripper
+  subtask_index: 63
+- subtask: Place the brown towel on the white box with the right gripper
+  subtask_index: 64
+- subtask: Grasp the blue pot with the right gripper
+  subtask_index: 65
+- subtask: Grasp the round bread with the right gripper
+  subtask_index: 66
+- subtask: Grasp the chocolate cake with the left gripper
+  subtask_index: 67
+- subtask: Place the duck toy on the white box with the right gripper
+  subtask_index: 68
+- subtask: Place the chocolate on the white box with the right gripper
+  subtask_index: 69
+- subtask: Grasp the tin with the right gripper
+  subtask_index: 70
+- subtask: Place the chocolate cake on the white box with the left gripper
+  subtask_index: 71
+- subtask: Place the plugboard on the white box with the right gripper
+  subtask_index: 72
+- subtask: Grasp the tape with the right gripper
+  subtask_index: 73
+- subtask: Grasp the coke with the right gripper
+  subtask_index: 74
+- subtask: Grasp the tape with the left gripper
+  subtask_index: 75
+- subtask: Grasp the square chewing gum with the right gripper
+  subtask_index: 76
+- subtask: Grasp the shower sphere with the right gripper
+  subtask_index: 77
+- subtask: Grasp the bread slice with the left gripper
+  subtask_index: 78
+- subtask: Place the potato chips on the white box with the left gripper
+  subtask_index: 79
+- subtask: Grasp the blackboard erasure with the right gripper
+  subtask_index: 80
+- subtask: Place the round bread on the white box with the left gripper
+  subtask_index: 81
+- subtask: Grasp the round bread with the left gripper
+  subtask_index: 82
+- subtask: Grasp the square wooden block with the left gripper
+  subtask_index: 83
+- subtask: Grasp the blue cup with the right gripper
+  subtask_index: 84
+- subtask: Grasp the soft facial cleanser with the right gripper
+  subtask_index: 85
+- subtask: Place the yogurt on the white box with the right gripper
+  subtask_index: 86
+- subtask: Grasp the square wooden block with the right gripper
+  subtask_index: 87
+- subtask: Place the plugboard on the white box with the left gripper
+  subtask_index: 88
+- subtask: Grasp the round wooden block with the right gripper
+  subtask_index: 89
+- subtask: Grasp the banana with the right gripper
+  subtask_index: 90
+- subtask: 'null'
+  subtask_index: 91
+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=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, 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: 102
+  total_frames: 27154
+  fps: 30
+  total_tasks: 92
+  total_videos: 408
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 1.03 GB
+frame_num: 27154
+dataset_size: 1.03 GB
+data_structure: 'Galaxea_R1_Lite_storage_object_white_box_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (90 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:101
+features:
+  observation.images.cam_head_left_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_head_right_rgb:
+    dtype: video
+    shape:
+    - 720
+    - 1280
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 720
+      video.width: 1280
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 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_right_wrist_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.state:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - left_gripper_open
+    - right_gripper_open
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml

@@ -0,0 +1,499 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Realman_RMC-AIDA-L_fold_towel
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: bathroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: furniture
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: towel
+  level1: daily_necessities
+  level2: towel
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- with both grippers position the towel correctly, the right gripper grasp the towel
+  and fold it to the left.
+sub_tasks:
+- subtask: Grasp the towel with the left gripper
+  subtask_index: 0
+- subtask: Move the towel to the center of the table with the right gripper
+  subtask_index: 1
+- subtask: End
+  subtask_index: 2
+- subtask: Grasp the towel with the right gripper
+  subtask_index: 3
+- subtask: Fold the towel with the left gripper
+  subtask_index: 4
+- subtask: Move the towel to the center of the table with both grippers
+  subtask_index: 5
+- subtask: Fold the towel with the right gripper
+  subtask_index: 6
+- subtask: 'null'
+  subtask_index: 7
+atomic_actions:
+- grasp
+- fold
+robot_name:
+- Realman_RMC-AIDA-L
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 120
+  total_frames: 69438
+  fps: 30
+  total_tasks: 8
+  total_videos: 360
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 28
+  action_dim: 28
+  camera_views: 3
+  dataset_size: 1.08 GB
+frame_num: 69438
+dataset_size: 1.08 GB
+data_structure: 'Realman_RMC-AIDA-L_fold_towel_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (108 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:119
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml

@@ -0,0 +1,500 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Realman_RMC-AIDA-L_storage_block_basket
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: 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: building_block
+  level1: toy
+  level2: building_block
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- the left gripper grasp the basket on the table, the right grippe pick up the blocks
+  on the table and place it into the basket.
+sub_tasks:
+- subtask: End
+  subtask_index: 0
+- subtask: Grasp the blue cube with the right gripper
+  subtask_index: 1
+- subtask: Place the blue cube into the basket with the right gripper
+  subtask_index: 2
+- subtask: Grasp the basket with the left gripper
+  subtask_index: 3
+- subtask: 'null'
+  subtask_index: 4
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Realman_RMC-AIDA-L
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 19083
+  fps: 30
+  total_tasks: 5
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 28
+  action_dim: 28
+  camera_views: 3
+  dataset_size: 201.40 MB
+frame_num: 19083
+dataset_size: 201.40 MB
+data_structure: 'Realman_RMC-AIDA-L_storage_block_basket_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 28
+    names:
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/agilex_cobot_magic_pass_object_right_to_left_red_tablecloth.yaml

@@ -0,0 +1,667 @@
+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_right_to_left_red_tablecloth
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: commercial_convenience
+  level2: supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+  level1: home_storage
+  level2: table
+  level3: null
+  level4: null
+  level5: null
+- object_name: ambrosial_yogurt
+  level1: food
+  level2: ambrosial_yogurt
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: food
+  level2: banana
+  level3: null
+  level4: null
+  level5: null
+- object_name: long_bread
+  level1: food
+  level2: long_bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: milk
+  level1: food
+  level2: milk
+  level3: null
+  level4: null
+  level5: null
+- object_name: yogurt
+  level1: food
+  level2: yogurt
+  level3: null
+  level4: null
+  level5: null
+- object_name: grape
+  level1: food
+  level2: grape
+  level3: null
+  level4: null
+  level5: null
+- object_name: ham_sausage
+  level1: food
+  level2: ham_sausage
+  level3: null
+  level4: null
+  level5: null
+- object_name: eggplant
+  level1: food
+  level2: eggplant
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: food
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: eyeglass_case
+  level1: laboratory_supplies
+  level2: eyeglass_case
+  level3: null
+  level4: null
+  level5: null
+- object_name: rubik's_cube
+  level1: toys
+  level2: rubik's_cube
+  level3: null
+  level4: null
+  level5: null
+- object_name: purple_trash_bag
+  level1: trash
+  level2: purple_trash_bag
+  level3: null
+  level4: null
+  level5: null
+- object_name: cleanser
+  level1: daily_necessities
+  level2: cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: bathing_in_flowers
+  level1: daily_necessities
+  level2: bathing_in_flowers
+  level3: null
+  level4: null
+  level5: null
+- object_name: whiteboard_eraser
+  level1: stationery
+  level2: whiteboard_eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: candle
+  level1: daily_necessities
+  level2: candle
+  level3: null
+  level4: null
+  level5: null
+- object_name: red_table_cloths
+  level1: laboratory_supplies
+  level2: red_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.
+sub_tasks:
+- subtask: The left gripper places milk on the left side of the table
+  subtask_index: 0
+- subtask: The left gripper places anmuxi on the left side of the table
+  subtask_index: 1
+- subtask: The left gripper places Rubik's Cube on the left side of the table
+  subtask_index: 2
+- subtask: Pass the blue blackboard erasure to the left gripper
+  subtask_index: 3
+- subtask: End
+  subtask_index: 4
+- subtask: Pass the eggplant to the left gripper
+  subtask_index: 5
+- subtask: Pass the Rubik's Cube to the left gripper
+  subtask_index: 6
+- subtask: The left gripper places yogurt on the left side of the table
+  subtask_index: 7
+- subtask: Pass the square chewing gum to the left gripper
+  subtask_index: 8
+- subtask: Use the right gripper to grab the grape on the right side of the table
+  subtask_index: 9
+- subtask: Pass the yogurt to the left gripper
+  subtask_index: 10
+- subtask: The left gripper places eggplant on the left side of the table
+  subtask_index: 11
+- subtask: The left gripper places grape on the left side of the table
+  subtask_index: 12
+- subtask: Use the right gripper to grab the milk on the right side of the table
+  subtask_index: 13
+- subtask: Pass the milk to the left gripper
+  subtask_index: 14
+- subtask: Use the right gripper to grab the eggplant on the right side of the table
+  subtask_index: 15
+- subtask: The left gripper places xx on the left side of the table
+  subtask_index: 16
+- subtask: Pass the shower sphereto the left gripper
+  subtask_index: 17
+- subtask: Use the right gripper to grab the shower sphere on the right side of the
+    table
+  subtask_index: 18
+- subtask: Use the right gripper to grab the Anmuxi on the right side of the table.
+  subtask_index: 19
+- subtask: Use the right gripper to grab the xx on the right side of the table
+  subtask_index: 20
+- subtask: The left gripper places shower sphere on the left side of the table
+  subtask_index: 21
+- subtask: Use the right gripper to grab the blue blackboard erasure on the right
+    side of the table
+  subtask_index: 22
+- subtask: Use the right gripper to grab the plush banana on the right side of the
+    table
+  subtask_index: 23
+- subtask: Pass the plush banana to the left gripper
+  subtask_index: 24
+- subtask: Pass the shower sphere to the left gripper
+  subtask_index: 25
+- subtask: Pass the  to the yogurt left gripper
+  subtask_index: 26
+- subtask: The left gripper places blue blackboard erasure on the left side of the
+    table
+  subtask_index: 27
+- subtask: The left gripper places plush banana on the left side of the table
+  subtask_index: 28
+- subtask: Use the right gripper to grab the square chewing gum on the right side
+    of the table
+  subtask_index: 29
+- subtask: The left gripper places square chewing gum on the left side of the table
+  subtask_index: 30
+- subtask: The left gripper places eyeglass case on the left side of the table
+  subtask_index: 31
+- subtask: Pass the xx to the left gripper
+  subtask_index: 32
+- subtask: Pass the eyeglass case to the left gripper
+  subtask_index: 33
+- subtask: Use the right gripper to grab the yogurt on the right side of the table
+  subtask_index: 34
+- subtask: Use the right gripper to grab the eyeglass case on the right side of the
+    table
+  subtask_index: 35
+- subtask: Pass the  yogurt to the left gripper
+  subtask_index: 36
+- subtask: Use the right gripper to grab the Rubik's Cube on the right side of the
+    table
+  subtask_index: 37
+- subtask: Pass the anmuxi to the left gripper
+  subtask_index: 38
+- subtask: Pass the grape to the left gripper
+  subtask_index: 39
+- subtask: 'null'
+  subtask_index: 40
+atomic_actions:
+- grasp
+- lift
+- lower
+- handover
+- takeover
+robot_name:
+- agilex_cobot_magic
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 99
+  total_frames: 58861
+  fps: 30
+  total_tasks: 41
+  total_videos: 297
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 1.43 GB
+frame_num: 58861
+dataset_size: 1.43 GB
+data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (87 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:98
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4